Data Sheet

The description of EEPROM and RAM parameters above are summarized below.
(E0) Model_No：Servo model name
(E1) Year：Year
(E2) Version/Month：bit0~3：month, bit4~8：version of servo firmware
(E5) Baud_Rate：
0x01：9600
0x02：19200
0x06：57600
0x0C：115200
(E6,R0) sID：Servo ID, 1, 2, ..., 19, 20 ... , 253
(E7,R1) ACK_Policy：
only STAT command reply：0
only EEPROM/RAM RAED and STAT commands reply：1
all commands reply：2
(E8,R2) Alarm_LED_Policy：bit i = 0 (System Alarm LED), 1 (User LED)
Bit 0：White LED
Bit 1：Blue LED
Bit 2：Green LED
Bit 3：Red LED
(E9,R3) Torque_Policy：Shut down Motor when Voltage/Load/Temperature
Torque Free Control：0
Torque Limited：1
(E10,R4) SPDctrl_Policy：Speed open/close loop control
Open Loop Control：0
Close Loop Control：1
(E11,R5) Max_Temperature：The limit of A1-16 servo operating temperature. The
value is in Degrees Celsius.
(E12,R6) Min_Voltage：The min value of A1-16 servo operating voltage. The value is
16 times the actual voltage.
(E13,R7) Max_Voltage：The max value of A1-16 servo operating voltage. The value is
16 times the actual voltage.
(E14,R8) Acceleration_Ratio = 0, 1, 2, ..., 50
Play_time Acceleration_Ratio Referenced position trajectory
0 Ramp-to-step position command,
see (36)
1~255 0 Constant speed profile
1~255 1~50 T-curve speed profile
Note: acceleration_time = deceleration_time = play_time * Acceleration_Ratio/100