Manual

22
ID
ACK Policy
Alarm LED Policy
Torque Policy
Reserved
Max. Temperature
Min. Voltage
Max. Voltage
Acceleration Ratio
Max. Acceleration Time
Dead Zone
Saturator Offset
Saturator Slope
PWM Offset
Min. PWM
Max. PWM
Overload PWM
Threshold
Min. Position
Max. Position
Position Kp
Position Kd
Position Ki
Position Feed forward
1st Gain
Position Feedforward
2nd Gain
Reserved
Reserved
LED Blink Period
ADC Fault Check Period
Packet Garbage
Check Period
Stop Detection Period
6
7
8
9
10
11
12
13
14
15
16
17
18
20
21
22
24
26
28
30
32
34
36
38
40
42
44
45
46
47
1
1
1
1
1
1
1
1
1
1
1
1
2
1
1
2
2
2
2
2
2
2
2
2
2
2
1
1
1
1
0xFD
0x01
0x7F
0x35
-
0xDE
0x5B
0x89
0x19
0x2D
0x00
0x00
0x0000
0x00
0x00
0x03FF
0x03FE
0x0015
0x03EA
0x01B8
0x1F40
0x0000
0x0000
0x0000
-
-
0x2D
0x2D
0x12
0x1B
0x00 ~ 0xFD
0x00 ~ 0x2
0x00 ~ 0x7F
0x00 ~ 0x7F
-
0x00 ~ 0xFE
0x00 ~ 0xFE
0x00 ~ 0xFE
0x00 ~ 0x32(50)
0x00 ~ 0xFE
0x00 ~ 0xFE
0x00 ~ 0xFE
0x0000 ~ 0x7FFF
-128 ~ 127
0x00 ~ 0xFE
0x0000 ~ 0x03FF
0x0000 ~ 0x7FFE
0x0000 ~ 0x03FF
0x0000 ~ 0x03FF
0x0000 ~ 0x7FFF
0x0000 ~ 0x7FFF
0x0000 ~ 0x7FFF
0x0000 ~ 0x7FFF
0x0000 ~ 0x7FFF
-
-
0x00 ~ 0xFE
0x00 ~ 0xFE
0x00 ~ 0xFE
0x00 ~ 0xFE
Servo ID(0xFE : Can be used as
Broadcasing ID. ID not assignable)
Refer to Pg 33
Activates alarm LED according to policy
Releases torque according to policy
Reserved
Maximum allowed temp(0xDF : 85℃)
Minimum allowed voltage(0x5B : 6.714DCV)
Maximum allowed voltage(0x89 : 10DCV)
Ratio of time to reach goal position
to acceleration or decceleration
Max acceleration time, 11.2ms interval
Acceleration(0x2D : 504ms)
Outside control/sensor range
Refer to Pg 36
Refer to Pg 36
PWM Offset value
Refer to Pg 37
Sets minimum PWM value
Refer to Pg 37
Sets maximum PWM value
Refer to Pg 37
Sets PWM overload treshold range
Refer to Pg 34
Minimum position value(0~1023)
Maximum position value(0~1023)
Proportional Gain,
Derivative Gain,
Integral Gain,
Refer to Pg 35
Refer to Pg 35
Reserved
Reserved
Alarm LED blink period accoring to policy,
11.2ms/Tick, 0x2D : 504ms
Temp/voltage error check period,
11.2ms/Tick, 0x2D : 504ms
Packet Error check period,
11.2ms/Tick, 0x12 : 201ms
Stop detection check period,
11.2ms/Tick, 0x1B : 302ms
Baud Rate
Reserved
4
5
1
1
0x10
0x00
Refer to Pg 26
-
Type ADDRESS Bytes Default Valid Range Description
Communication Speed
Reserved
RW
-
RW
RW
RW
RW
-
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
-
-
RW
RW
RW
RW
RW