Manual

※ When the CMD is “STAT” ACK Packet will be sent regardless of r(ACK Policy).
※ There is no reply when the pID in Request Packet is 254(Broadcast pID) with an exception of
“STAT” CMD in which case reply will be sent.
Sets ACK Packet reply policy when Request Packet is received.
ACK Policy(RAM Register Address 1)
0 : No reply to any Request Packet
1 : Only reply to Read CMD
2 : Reply to all Request Packet
※ ’A&B’ : Bit And Operator, 1(True) only whe A and B are both (True)
Sets Alarm LED policy when Error is detected.
Alarm LED Policy(RAM Register Address 2)
When (r(LED Policy) & r(Status Error)) is TRUE, Alarm LED starts to blink, Alarm LED blink period is set
by r(LED Blink Period).
When (r(LED Policy) & r(Status Error))is TRUE, Any values written to r(LED Control) will be ignored to
prevent confusion with Error state.
Error status r(Status Error) must be resloved first for r(LED Control) to function properly.
※ ’A&B’ : Bit And Operator, 1(True) only whe A and B are both (True)
Sets Torque Off policy when Error is detected.
Torque Policy(RAM Register Address 3)
When (r(Servo Policy) & r(Status Error))is TRUE, Torque is released (Torque Off). Under the Error
condition, servo will not return to Torque ON state regardless of the value written to r(Torque Control).
Servo does not automatically revert to Torque On state even after r(Status Error)has been resolved.
Enable Torque On using r(Torque Control) after r(Status Error) has been resloved.
Absolute Goal
Position
Absolute Desired
Trajectory Position
Desired Velocity
Position
Time
Velocity
Time
Play Time
Current
Command
recevied
Current
Command
recevied
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