Data Sheet

(E18,R12) Max_Wheel_Ref_Position：Start virtual position for speed close loop
control.
(E22,R16) Max_PWM：The max value of A1-16 servo output torque.
(E24,R18) Overload_Threshold：The max value of A1-16 servo output torque.
(E26,R20) Min_Position：Min operational angle
(E28,R22) Max_Position：Max operational angle
(E30,R24) Position_Kp：msb is the integer number and lsb is the decimal number.
The P control law is implemented below with a sampling time of 10 msec
(E32,R26) Position_Kd：msb is the integer number and lsb is the decimal number.
The PD control law is implemented below with a sampling time of 10 msec
(E34,R28) Position_Ki：msb is the integer number and lsb is the decimal number.
The PID control law is implemented below with a sampling time of 10 msec,
(E36,R30) Close_to_Open_Ref_Position：close loop continuous rotate mode close to
open position.
(E38,R32) Open_to_Close_Ref_Position：close loop continuous rotate mode open to
close position.
(E42,R36) Ramp_Speed = 0 (step position command), 1~1023 (slope of ramp-to-step)
(E44,R38) LED_Blink_Period：Blinking Period of LED with a sampling time of 10 msec.
(E46,R40) Packet_Timeout_Detection_Period：Packet Timeout Detection Period of
LED with a sampling time of 10 msec. 1 = 10ms
(E48,R42) Overload_Detection_Period：Overload Detection Period of servo with a
sampling time of 10 msec. 1 = 10ms
(E51,R45) Over_Voltage_Detection_Period：Over Voltage Detection Period of servo
with a sampling time of 10 msec. 1 = 10ms
(E52,R46) Over_ Temperature _Detection_Period：Over Temperature Detection
Period of servo with a sampling time of 10 msec. 1 = 10ms
(E53,R47) Calibration_Difference：The difference between newtral point and position
raw data.
(R48) status_error
bit Mask Default Status Error Error LED on/off
1 0x01 0 Exceed Potentiometer Range Error Blue LED on
2 0x02 0 Over Voltage Limits Error Red LED on/
White LED off
3 0x04 0 Over Temperature Error Red LED on/
White LED off
4 0x08 0 Overload/Over-current Error Red LED on/
White LED off
5 0x10 0 Reserved None