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17
DYNAMIXEL
RX-64
Address 0x20,0x21 Moving Speed. Sets the angular velocity of the output moving to the Goal Position.
Setting this value to its maximum value of 0x3ff moves the output with an angular
velocity of 114 RPM, provided t hat there is enough power supp lied (The lowest velocit y
is when this value is set to 1. When set to 0, the velocity is the largest possible for the
supplied voltage, e.g. no velocity control is applied.)
Address 0x24,0x25 Present Position
. Current angular position of the Dynamixel actuator output.
Address 0x26,0x27 Present Speed
. Current angular velocity of the Dynamixel actuator output.
Address 0x28,0x29 Present Load
. The magnitude of the l oa d o n the oper at ing D yna mixel actuat or. Bit 10 is
the direction of the load.
Load Direction = 0 : CCW Load, Load Direction = 1: CW Load
Address 0x2A Present Voltage. The voltage currently applied to the Dynamixel actuator. The value is
10 times the actual voltage. For example, 10V is represented as 100 (0x64).
Address 0x2B Present Temperature. The internal temperature of the Dynamixel actuator in Degrees
Celsius.
Address 0x2C Registered Instruction
. Set to 1 when an instruction is assigned by the REG_WRITE
command. Set to 0 after it completes the assigned instruction by the Action comman d.
Address 0x2E Moving.
Set to 1 when the Dynamix el actuator is moving by its own power.
Address 0x2F Lock. If set to 1, only Address 0x18 to 0x23 can be written to and other areas cannot.
Once locked, it can only b e unlocked by turning the power off.
Address 0x30,0x31 Punch. The minimum current supplie d to the motor during o peration. T he initial value is
set to 0x20 and its maximum value is 0x3ff.
Endless Turn
If both values for t he CW Angle Limit an d the CCW Angle Limit are set to 0, an Endless
Turn mode can be implement ed by sett ing the Goal Speed. This feature can be used f or
implementing a continuously rotating wheel.
BIT 15~11 10 9876543210
Value 0 Load Direction Load Value