Manual

Current time Servo control mode
I_JOG / S_JOG CMD Packet used to
change control mode
When Torque On using r(Torque Control),
Servo refers to r(Current Control Mode)
0 : Position Control
1 : Turn/Velocity Control(Continuous rotation)
Servo LED control
When corresponding Bit value 1 = On, 0 = Off
(0x01 : Green, 0x02 : Blue, 0x04 : Red)
※ When alarm LED activated by r(Status Error)
and r(Alarm LED Policy). r(Led Control)
Write value ignored
Input Voltage = 0.074 X ADC
Internal Servo Temperature
Current intermediate goal speed based
on velocity Profile, Raw Data
r(Desired Velocity) velocity required at
current time.
Current Intermediate goal position based
on velocity Profile, Raw Data
r(Absolute Desired Trajectory Position) is
current goal position
Absolute Goal position Raw Data
User selected Goal Position
Uncalibrated value
Current Torque, 1023 = Max Torque
Reserved
Shows speed measurement, interval 11.2ms
r(Diff Position)1 = 29.09deg/sec
Absolute position Raw Data
Angle = r(Absolute Position) X 0.325
Calibrated position Raw Data
Refer to r(Calibration Difference)
Servo operating time, Max setting 2.8672sec
0~255, 1 = 11.2ms
Type NO Bytes EEP ADDR RAM ADDR RW Description
48
49
50
51
52
53
54
55
56
57
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59
60
LED Control
Voltage
Temperature
Current Control
Mode
Tick
Calibrated
Position
Absolute Position
Differential Position
PWM
Reserved
Absolute Goal
Position
Absolute Desired
Trajectory Position
Desired Velocity
1
1
1
1
1
2
2
2
2
2
2
2
2
RW
RO
RO
RO
RO
RO
RO
RO
RO
-
RO
RO
RO
-
-
-
-
-
-
-
-
-
-
-
-
-
53
54
55
56
57
56
58
60
62
64
66
68
70
29