Data Sheet

6 0x20 0 Requested Packet Checksum Error Green LED on
7 0x40 0 Requested Packet Data Error Green LED on
8 0x80 0 Requested Packet RX FIFO Error Green LED on
(R49) status_detail
bit Mask Default Status Detail
1 0x01 0 Reserved
2 0x02 0 Reserved
3 0x04 0 Reserved
4 0x08 0 Reserved
5 0x10 0 Motor Moving
6 0x20 0 Motor In-Position (Position control mode only)
7 0x40 0 1: Torque on (Position/Speed control), 0: Torque off
8 0x80 0 Motor Braked
(R53) LED_Control：bit i = 0 (LEDi off), 1 (LEDi on); (see Alarm_LED_Policy)
Bit 0：White LED
Bit 1：Blue LED
Bit 2：Green LED
Bit 3：Red LED
(R54) Voltage：The voltage currently applied to servo. The Value is 16 times the
actual voltage.
(R55) Temperature：The internal temperature of motor in Degrees Celsius.
(R56) Current_Control_Mode：0 (position control), 1 (speed control), 2 (torque off)
(R57) Tick：Time servo operation. 1 = 10ms
(R60) Joint Postion：Servo Position
(R64) PWM_Output_Duty：The torque applied to motor
(R66) Bus_Current：The Current applied to motor. The Value is 200 times the
actual current.
(R68) Position_Goal：Servo goal of position control mode
(R70) Position_Ref：Ref point for position control
(R72) Omega_Goal：Goal speed of speed close-loop control
(R74) Omega_Ref：Ref speed of speed close-loop control
(R76) Requested_Counts：Total # of requested packets received since power on.
(R78) ACK_Counts：Total # of ACK packets send since power on.