Manual

Servo Model Name
Firmware Version
(※ for DRS-0201, Model No1 is 0x02)
Servo ID, Error when same ID exists
within the same network.
Range 0 ~ 253
※ pID up to 254
Servo ID maximum 253
Type NO Bytes EEP ADDR RAM ADDR Description
Register Detail
Model No1
Model No2
Version1
Version2
Baud Rate
Reserved
ID
ACK Policy
Alarm LED Policy
Torque Policy
Reserved
Max. Temperature
Min. Voltage
Max. Voltage
Default Baud Rate is 115,200bps
0x02 : 666,666bps
0x03 : 500,000bps
0x04 : 400,000bps
0x07 : 250,000bps
0x09 : 200,000bps
0x10 : 115,200bps
0x22 : 57,600bps
※ Baud Rate error within 3%
Reserved
Reserved
Sets ACK packet reply policy when
Request packet received
0 : No reply
1 : Only reply to Read CMD
2 : Reply to all Request Packet
※ When CMD is STAT, ACK packe will
be sent regardless of r(ACK Policy)
※ When pID(Boradcast pID)is 254 no reply
(Exception when CMD is STAT)
Sets Alarm LED policy when error. r(LED Policy)
& r(Status Error) TRUE > LED blink
LED blink period set by r(LED Blink Period)
When error LED blink > Ignore r(LED Control) value
Resolve r(Status Error) Error to make
r(LED Control) function normally
Minimum operational voltage
When Servo input voltage r(Voltage) is below
r(Min. Voltage), r(Status Error) "Exceed
Voltage Limit" activated
Voltage = 0.074 X ADC
Maximum operational voltage
When Servo input voltage r(Voltage) is greather
than r(Max. Voltage), r(Status Error) "Exceed
Voltage Limit" activated
Voltage = 0.074 X ADC
1
2
3
4
5
6
7
8
9
10
11
12
13
14
r(Servo Policy) & r(Status Error) TRUE >
Torque release(Torque Off)
When Torque released, by errorTorque
On not possible regardless of value in
r(Torque Control)
Servo does not automaticallly revert to Torque
On even after r(Status Error) has been resolved
Enable Toque On using r(Torque Control)
after r(Status Error) has been resolved
Maximum operational temperature
When r(Temperature) is greater than
r(Max. Temperature) r(Status Error) "Exceed
Temperature Limit" activated
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
1
2
3
4
5
6
7
8
9
10
11
12
13
-
-
-
-
-
-
0
1
2
3
4
5
6
7
26
RW
RO
RO
RW
-
RW
RW
RW
RW
-
RW
RW
RW