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DYNAMIXEL
DX-Series
3-4. Control
Table
Address Item Access Initial Value
0(0X00) Model Number(L) RD
116(0x74)
1(0X01) Model Number(H) RD
0(0x00)
2(0X02) Version of Firmware RD
?
3(0X03) ID RD,WR
1(0x01)
4(0X04) Baud Rate RD,WR
34(0x22)
5(0X05) Return Delay Time RD,WR
250(0xFA)
6(0X06) CW Angle Limit(L) RD,WR
0(0x00)
7(0X07) CW Angle Limit(H) RD,WR
0(0x00)
8(0X08) CCW Angle Limit(L) RD,WR
255(0xFF)
9(0X09) CCW Angle Limit(H) RD,WR
3(0x03)
10(0x0A) (Reserved) -
0(0x00)
11(0X0B) the Highest Limit Temperature RD,WR
85(0x55)
12(0X0C) the Lowest Limit Voltage RD,WR
60(0X3C)
13(0X0D) the Highest Limit Voltage RD,WR
190(0xBE)
14(0X0E) Max Torque(L) RD,WR
255(0XFF)
15(0X0F) Max Torque(H) RD,WR
3(0x03)
16(0X10) Status Return Level RD,WR
2(0x02)
17(0X11) Alarm LED RD,WR
4(0x04)
18(0X12) Alarm Shutdown RD,WR
4(0x04)
19(0X13) (Reserved) RD,WR
0(0x00)
20(0X14) Down Calibration(L) RD
?
21(0X15) Down Calibration(H) RD
?
22(0X16) Up Calibration(L) RD
?
23(0X17) Up Calibration(H) RD
?
24(0X18) Torque Enable RD,WR
0(0x00)
25(0X19) LED RD,WR
0(0x00)
26(0X1A) CW Compliance Margin RD,WR
0(0x00)
27(0X1B) CCW Compliance Margin RD,WR
0(0x00)
28(0X1C) CW Compliance Slope RD,WR
32(0x20)
29(0X1D) CCW Compliance Slope RD,WR
32(0x20)
30(0X1E) Goal Position(L) RD,WR
[Addr36]value
31(0X1F) Goal Position(H) RD,WR
[Addr37]value
32(0X20) Moving Speed(L) RD,WR
0
33(0X21) Moving Speed(H) RD,WR
0
34(0X22) Torque Limit(L) RD,WR
[Addr14] value
35(0X23) Torque Limit(H) RD,WR
[Addr15] value
36(0X24) Present Position(L) RD
?
37(0X25) Present Position(H) RD
?
38(0X26) Present Speed(L) RD
?
39(0X27) Present Speed(H) RD
?
40(0X28) Present Load(L) RD
?
41(0X29) Present Load(H) RD
?
42(0X2A) Present Voltage RD
?
43(0X2B) Present Temperature RD
?
44(0X2C) Registered Instruction RD,WR
0(0x00)
45(0X2D) (Reserved) -
0(0x00)
46[0x2E) Moving RD
0(0x00)
47[0x2F) Lock RD,WR
0(0x00)
48[0x30) Punch(L) RD,WR
32(0x20)
49[0x31) Punch(H) RD,WR
0(0x00)
RAM
Area
EEPROM
Area