- ROBOTIS Dynamixel RX-28 User's Manual

DYNAMIXEL
RX-28
Address 0x20,0x21 Moving Speed. Sets the angular velocity of the output moving to the Goal Position.
Setting this value to its maximum value of 0x3ff moves the output with the maximum
angular velocity which depends on the level of power supplied and Dynamixel series.
(The lowest velocity is when this value is set to 1. When set to 0, the velocity is the
largest possible for the supplied voltage, e.g. no velocity control is applied.)
Address 0x24,0x25 Present Position
. Current angular position of the Dynamixel actuator output.
Address 0x26,0x27 Present Speed
. Current angular velocity of the Dynamixel actuator output.
Address 0x28,0x29 Present Load
. The magnitude of the load on the operating Dynamixel actuator. Bit 10 is
the direction of the load.
BIT 15~11 10 9876543210
Value 0 Load Direction Load Value
Load Direction = 0 : CCW Load, Load Direction = 1: CW Load
Address 0x2A Present Voltage. The voltage currently applied to the Dynamixel actuator. The value is
10 times the actual voltage. For example, 10V is represented as 100 (0x64).
Address 0x2B Present Temperature. The internal temperature of the Dynamixel actuator in Degrees
Celsius.
Address 0x2C Registered Instruction
. Set to 1 when an instruction is assigned by the REG_WRITE
command. Set to 0 after it completes the assigned instruction by the Action command.
Address 0x2E Moving.
Set to 1 when the Dynamixel actuator is moving by its own power.
Address 0x2F Lock. If set to 1, only Address 0x18 to 0x23 can be written to and other areas cannot.
Once locked, it can only be unlocked by turning the power off.
Address 0x30,0x31 Punch. The minimum current supplied to the motor during operation. The initial value is
set to 0x20 and its maximum value is 0x3ff.
Endless Turn
If both values for the CW Angle Limit and the CCW Angle Limit are set to 0, an Endless
Turn mode can be implemented by setting the Goal Speed. This feature can be used for
implementing a continuously rotating wheel.
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