Manual

ID
ACK Policy
Alarm LED Policy
Torque Policy
Reserved
Max. Temperature
Min. Voltage
Max. Voltage
Acceleration Ratio
Max. Acceleration
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
Feedforward 1st Gain
Position
Feedforward 2nd Gain
Reserved
Reserved
LED Blink Period
0
1
2
3
4
5
6
7
8
9
10
11
12
14
15
16
18
20
22
24
26
28
30
32
34
36
38
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
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
Servo ID(0xFE : Can be used as
Broadcasting ID, ID not assignable)
Refer to Pg 33
Activates alarm LED according to Policy
Releases Torque according to Plolicy
Reserved
Maximum allowed temp(0xDF : 85℃)
Minimum allowed voltage(0x5B : 6.714VDC)
Maximum allowed voltage(0x89 : 10VDC)
Ratio of time to reach goal position
to acceleration or decceleration
Max acceleration time, 11.2ms interval
Acceleration(0x2D : 504ms)
Outside control range
Refer to Pg 36
Refer to Pg 36
PWM Offset value
Refer to Pg 37
Set minimum PWM value
Refer to Pg 37
Set maximum PWM value
Refer to Pg 37
Set 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 according to Policy
11.2ms/Tick, 0x2D : 504ms
Type ADDRESS Bytes Valid Range RW Description
Volatile Memory has direct affect on the operation of the Servo and reverts to default (EEP Register)
value when the Servo is reboot even though RAM register value has been changed to change the
servo operating parameters. Read/Write has to be performed to RAM Register value to operate
the Servo, change the operating parameters or to check servo status.
Volatile Register(RAM Register) MAP
RW
RW
RW
RW
-
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
-
-
RW
24