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DYNAMIXEL
RX-64
3-4. Control
Table
Address Item Access Initial Value
0(0X00) Model Num ber(L) RD
64(0x40)
1(0X01) Model Num ber(H) RD
0(0x00)
2(0X02) Versio n of Firmware RD
?
3(0X03) ID RD,W R
1(0x01)
4(0X04) Baud R ate RD,WR
34(0x22)
5(0X05) Return Delay Time RD ,W R
250(0xF A)
6(0X06) CW Angle Lim it(L) RD,WR
0(0x00)
7(0X07) CW Angle Lim it(H) RD,W R
0(0x00)
8(0X08) CC W Ang le Limit(L) RD,W R
255(0xFF)
9(0X09) CCW Angle Limit(H) RD,W R
3(0x03)
10(0x0A ) (Reserved) -
0(0x00)
11(0X 0B) the Highest Limit Temperature RD,W R
85(0x55)
12(0X0C ) the Lowest Lim it Voltage RD ,W R
60(0X3C)
13(0X0D ) the Highest Limit Voltage RD,W R
240(0xF0)
14 (0 X 0E ) M ax T orq u e(L ) R D ,WR
255(0XFF)
15 (0 X 0F ) M a x T orq ue (H ) R D ,WR
3(0x03)
16(0X10) Status Return Level RD,W R
2(0x02)
17(0X11) Alarm LED RD,W R
4(0x04)
18(0X12) Alarm Shutdown RD,WR
4(0x04)
19(0X13) (Reserved) RD,W R
0(0x00)
20 (0 X 1 4 ) Dow n C a libra tion (L ) R D
?
21 (0 X 1 5 ) Dow n C a libra tion (H ) RD
?
22(0X16) U p Calibration(L) RD
?
23(0X17) U p Calibration(H ) RD
?
24(0X18) Torque Enable RD ,W R
0(0x00)
25(0X19) LED RD,W R
0(0x00)
26(0X1A ) C W C om pliance M argin RD,WR
0(0x00)
27(0X1B) CCW Compliance M argin RD,W R
0(0x00)
28(0X1C ) CW C om pliance Slope RD,WR
32(0x20)
29(0X1D) CCW Compliance Slope RD,W R
32(0x20)
30(0X 1E) Goal Position(L) RD,W R
[A d dr3 6 ]va lue
31(0X1F) Goal Position(H ) R D,WR
[A d dr3 7 ]va lue
32(0X20) M oving S peed(L) RD,W R
0
33(0X21) M oving S peed(H) RD,WR
0
34(0X22) Torque Lim it(L) R D,W R
[A dd r14 ] va lue
35(0X23) Torque Lim it(H) R D,W R
[A dd r15 ] va lue
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 ) P resent V oltage RD
?
43(0X2B ) P resent Tem p erature R D
?
44(0X2C) Registered Instruction RD,WR
0(0x00)
45 (0 X 2 D ) (Res erve d ) -
0(0x00)
46[0x2E ) Moving RD
0(0x00)
47[0x2F) Lock RD,W R
0(0x00)
48[0x30) P unch(L) RD,W R
32(0x20)
49[0x31) P unch(H) RD,W R
0(0x00)
RAM
Area
EEPROM
Area