ROBOTIS e-Manual v1.29.00

CM-150

Product picture

[CM-150 Contoller]

Product for

 

Parts lable

[CM-150 Parts lable]

 

[Connectivity of the ports ofr the CM-150]

Connect Power

 

How to use

 

Connect to PC

Connect a wireless commuunication module

         

 

Specifications

Control Table

The Control Table is a structure of data implemented in the controller. Users can read a value from a specific address to monitor the status of controller or write a value to an address to control the controller and connected devices to the controller.

 

Area (EEPROM, RAM)

The Control Table is divided into 2 Areas. Data in the RAM Area is reset to initial values when the controller  is turned on (Volatile). On the other hand, modified values in the EEPROM Area are kept even when the controller is turned off (Non-Volatile).

 

Access Property (R, RW)

The Control Table has two different access properties. ‘RW’ property stands for read and write access permission while ‘R’ stands for read only access permission. Data with the read only property cannot be changed by the WRITE Instruction. Read only property(‘R’) is generally used for measuring and monitoring purpose, and read write property(‘RW’) is used for controlling devices.

 

Initial Value

Each data in the Control Table is restored to initial values when the controller is turned on. Default values in the EEPROM area are initial values of the controller (factory default settings). If any values in the EEPROM area are modified by a user, modified values will be restored as initial values when the controller is turned on. Initial Values in the RAM area are restored when the controller is turned on.

 

Size

The Size of data varies from 1 to 4 bytes depend on their usage. Please check the size of data when updating the data with an Instruction Packet.

 

Area

Address

Size

[byte]

Data Name

Description

Access

initial Value

E

E

P

R

O

M

0

2

Model Number

Model Number

R

400

6

1

Firmware Version

Firmware Version

R

-

7

1

ID

Controller ID

RW

200

8

1

Baud Rate

Communication Baud Rate

R

1

9

1

Return Delay Time

Response Delay Time

RW

0

10

1

Status Return Level

Select Types of Status Return

RW

2

R

A

M

21

1

Mode Number

Operation Mode

RW

-

25

1

Press Counter

Counts Start Button Press

R

-

26

1

Button Status

Start Button Status

R

0

30

2

My Zigbee ID

Local Zigbee ID

R

-

32

2

Your Zigbee ID

Remote Zigbee ID

RW

-

36

1

IR Communication Channel

IR Receiver Channel Number

RW

1

73

1

128ms Timer Value

128ms Timer Counter

RW

0

74

2

1ms Timer Value

1ms Timer Counter

RW

0

76

1

Power Save Timer Value

Power Save Timer Counter

RW

0

77

1

Random Number

Creating Random Number

RW

-

79

1

Green LED

Green LED Status

RW

0

82

1

Motion LED

Motion LED Status

RW

0

84

1

Buzzer Index

Buzzer Melody Frequency

RW

0

85

1

Buzzer Time

Buzzer Play Time

RW

0

86

1

Sound Detected Count

Final Count for Detected Sound

R

0

87

1

Sound Detecting Count

Current Count for Detected Sound

R

0

91

2

Internal Right IR Sensor Value

Sensor Value of Right IR

R

-

93

2

Internal Left IR Sensor Value

Sensor Value of Left IR

R

-

95

2

Internal Center IR Sensor Value

Sensor Value of Center IR

R

-

128

1

Port 3 Servo Mode

Servo Motor on Port 3

RW

-

129

1

Port 4 Servo Mode

Servo Motor on Port 4

RW

 

136

2

Port 3 Motor Speed

Speed of the Motor on Port 3

RW

-

138

2

Port 4 Motor Speed

Speed of the Motor on Port 4

RW

-

152

2

Port 1 Motor Speed

Speed of the Motor on Port 1

RW

-

154

2

Port 2 Motor Speed

Speed of the Motor on Port 2

RW

-

156

2

Port 3 Servo Position

Position of the Motor on Port 3

RW

-

158

2

Port 4 Servo Position

Position of the Motor on Port 4

RW

-

172

2

Port 3 IR Sensor Value

IR Sensor Value on Port 3

R

-

174

2

Port 4 IR Sensor Value

IR Sensor Value on Port 4

R

-

204

1

Port 3 Touch Sensor Value

Touch Sensor Value on Port 3

R

-

205

1

Port 4 Touch Sensor Value c

Touch Sensor Value on Port 4

R

-

212

1

Port 3 LED Module Value

Port 3 LED Module Control Value

RW

0

213

1

Port 4 LED Module Value

Port 4 LED Module Control Value

RW

0

220

2

Port 3 User Device Value

User Device Value on Port 3

RW

0

222

2

Port 4 User Device Value

User Device Value on Port 4

RW

0

236

1

Port 3 Temperature Sensor Value

Temperature Sensor Value on Port 3

R

-

237

1

Port 4 Temperature Sensor Value

Temperature Sensor Value on Port 4

R

-

244

1

Port 3 Ultrasonic Sensor Value

Ultrasonic Sensor Value on Port 3

R

-

245

1

Port 4 Ultrasonic Sensor Value

Ultrasonic Sensor Value on Port 4

R

-

252

1

Port 3 Magnetic Sensor Value

Magnetic Sensor Value on Port 3

R

-

253

1

Port 4 Magnetic Sensor Value

Magnetic Sensor Value on Port 4

R

-

260

1

Port 3 Motion Sensor Value

Motion Sensor Value on Port 3

R

-

261

1

Port 4 Motion Sensor Value

Motion Sensor Value on Port 4

R

-

268

1

Port 3 Color Sensor Value

Color Sensor Value on Port 3

R

-

269

1

Port 4 Color Sensor Value

Color Sensor Value on Port 4

R

-

276

1

Port 3 Hydro-Thermo Sensor Humidity Value

Humidity Value on Port 3

R

-

277

1

Port 4 Hydro-Thermo Sensor Humidity Value

Humidity Value on Port 4

R

-

284

1

Port 3 Hydro-Thermo Sensor Temperature Value

Temperature Value on Port 3

R

-

285

1

Port 4 Hydro-Thermo Sensor Temperature Value

Temperature Value on Port 4

R

-

292

2

Port 3 Brightness Sensor Value

Brightness Sensor Value on Port 3

R

-

294

2

Port 4 Brightness Sensor Value

Brightness Sensor Value on Port 4

R

-

 

Note : Some of the Control Table can be tested with R+ Manager 2.0. (How to test Control Table with R+ Manager 2.0)

 

 



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