Download Dynamixel EX-106

EX-106
3-4. Control Table
Control Table consists of data regarding the current status and operation, which exists inside of EX-106.
The user can control EX-106 by changing data of Control Table via Instruction Packet.
EEPROM Area
RAM Area
Address
(hexadecimal)
0 (0X00)
1 (0X01)
2 (0X02)
3 (0X03)
4 (0X04)
5 (0X05]
6 (0X06)
7 (0X07)
8 (0X08)
9 (0X09)
10 (0X0A)
11 (0X0B)
12 (0X0C)
13 [0X0D)
14 (0X0E)
15 (0X0F)
16 (0X10)
17 (0X11)
18 (0X12)
24 (0X18)
25 (0X19)
26 (0X1A)
27 (0X1B)
28 (0X1C)
29 (0X1D)
30 (0X1E)
31 (0X1F)
32 (0X20)
33 (0X21)
34 (0X22)
35 (0X23)
36 (0X24)
37 (0X25)
38 (0X26)
39 (0X27)
40 (0X28)
41 (0X29)
42 (0X2A)
43 (0X2B)
44 (0X2C)
46 (0X2E)
47 (0X2F)
48 (0X30)
49 (0X31)
56 (0X38)
57 (0X39)
Name
Model Number(L)
Model Number(H)
Version of Firmware
ID
Baud Rate
Return Delay Time
CW Angle Limit(L)
CW Angle Limit(H)
CCW Angle Limit(L)
CCW Angle Limit(H)
Drive Mode
the Highest Limit Temperature
the Lowest Limit Voltage
the Highest Limit Voltage
Max Torque(L)
Max Torque(H)
Status Return Level
Alarm LED
Alarm Shutdown
Torque Enable
LED
CW Compliance Margin
CCW Compliance Margin
CW Compliance Slope
CCW Compliance Slope
Goal Position(L)
Goal Position(H)
Moving Speed(L)
Moving Speed(H)
Torque Limit(L)
Torque Limit(H)
Present Position(L)
Present Position(H)
Present Speed(L)
Present Speed(H)
Present Load(L)
Present Load(H)
Present Voltage
Present Temperature
Registered Instruction
Moving
Lock
Punch(L)
Punch(H)
Sensed Current (L)
Sensed Current (H)
Description
Access
Lowest byte of model number
Highest byte of model number
Information on the version of firmware
ID of Dynamixel
Baud Rate of Dynamixel
Return Delay Time
Lowest byte of clockwise Angle Limit
Highest byte of clockwise Angle Limit
Lowest byte of counterclockwise Angle Limit
Highest byte of counterclockwise Angle
Limit
Dual Mode Setting
Internal Limit Temperature
Lowest Limit Voltage
Highest Limit Voltage
Lowest byte of Max. Torque
Highest byte of Max. Torque
Status Return Level
LED for Alarm
Shutdown for Alarm
Torque On/Off
LED On/Off
CW Compliance margin
CCW Compliance margin
CW Compliance slope
CCW Comliance slope
Lowest byte of Goal Position
Highest byte of Goal Position
Lowest byte of Moving Speed
Highest byte of Moving Speed
Lowest byte of Torque Limit
Highest byte of Torque Limit
Lowest byte of Current Position
Highest byte of Current Position
Lowest byte of Current Speed
Highest byte of Current Speed
Lowest byte of Current Load
Highest byte of Current Load
Current Voltage
Current Temperature
Means if Instruction is registered
Means if there is any movement
Locking EEPROM
Lowest byte of Punch
Highest byte of Punch
Lowest byte of Consuming Current
Highest byte of Consuming Current
R
R
R
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
R
R
R
R
R
R
R
R
RW
R
RW
RW
RW
R
R
20
Initial Value
(Hexadecimal)
106 (0X6A)
0 (0X00)
1 (0X01)
34 (0X22)
250 (0XFA)
0 (0X00)
0 (0X00)
255 (0XFF)
15 (0X0F)
0 (0X00)
80 (0X50)
60 (0X3C)
240 (0XF0)
255 (0XFF)
3 (0X03)
2 (0X02)
36 (0X24)
36 (0X24)
0 (0X00)
0 (0X00)
0 (0X00)
0 (0X00)
32 (0X20)
32 (0X20)
ADD14
ADD15
0 (0X00)
0 (0X00)
0 (0X00)
32 (0X20)
0 (0X00)
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