ROBOTIS e-Manual v1.13.01

Control Table consists of data regarding the current status and operation, which exists inside of Dynamixel. The user can control Dynamixel by changing data of Control Table via Instruction Packet.

EEPROM and RAM

Data in RAM area is reset to the initial value whenever the power is turned on while data in EEPROM area is kept once the value is set even if the power is turned off.

Address

It represents the location of data. To read from or write data to Control Table, the user should assign the correct address in the Instruction Packet.

Access

Dynamixel has two kinds of data: Read-only data, which is mainly used for sensing, and Read-and-Write data, which is used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings. In case of data in the RAM Area, the initial values on the right side of the above Control Tables are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet at the same time.

It represents the Model Number.

It represents the firmware version.

It is a unique number to identify Dynamixel.

The range from 0 to 253 (0xFD) can be used, and, especially, 254(0xFE) is used as the Broadcast ID.
If the Broadcast ID is used to transmit Instruction Packet, we can command to all Dynamixels.

Please be careful not to duplicate the ID of connected Dynamixel.

It is the delay time per data value that takes from the transmission of Instruction Packet until the return of Status Packet.

0 to 254 (0xFE) can be used, and the delay time per data value is 2 usec.

That is to say, if the data value is 10, 20 usec is delayed. The initial value is 250 (0xFA) (i.e., 0.5 msec).

The angle limit allows the motion to be restrained.
The range and the unit of the value is the same as Goal Position(Address 30, 31).

• CW Angle Limit: the minimum value of Goal Position(Address 30, 31)
• CCW Angle Limit: the maximum value of Goal Position(Address 30, 31)

The following two modes can be set pursuant to the value of CW and CCW.

Operation Type	CW / CCW
Wheel Mode	the  value of the both are 0
Joint Mode	the value of the both are not 0

The wheel mode can be used to wheel-type operation robots since motors of the robots spin infinitely.

The joint mode can be used to multi-joints robot since the robots can be controlled with specific angles.

It is the highest limit of operating temperature.

The range for use is 10 to 99 (0x10~0x63).  The unit is Celsius.

For example, if the value is 80, it is 80℃.

If the internal temperature of Dynamixel exceeds this range, Over Heating Error Bit (Bit2) of Status Packet is returned as ‘1’ and Alarm is triggered as set in the addresses 17 and 18.

             

Caution : Do not set the temperature lower/higher than the default value. When the temperature alarm shutdown occurs, wait 20 minutes to cool the temperature before re-use. Using the product when the temperature is high may and can cause damage.

It is the operation range of voltage.

50 to 250 (0x32 ~ 0x96) can be used.  The unit is 0.1V.

For example, if the value is 80, it is 8V.

If Present Voltage (Address42) is out of the range, Voltage Range Error Bit (Bit0) of Status Packet is returned as ‘1’ and Alarm is triggered as set in the addresses 17 and 18.

It is the torque value of maximum output. 0 to 1023 (0x3FF) can be used, and the unit is about 0.1%.

For example, Data 1023 (0x3FF) means that Dynamixel will use 100% of the maximum torque it can produce while Data 512 (0x200) means that Dynamixel will use 50% of the maximum torque. When the power is turned on, Torque Limit (Addresses 34 and 35) uses the value as the initial value.

It decides how to return Status Packet. There are three ways like the below table.

Value	Return of Status Packet
0	No return against all commands (Except PING Command)
1	Return only for the READ command
2	Return for all commands

 

When Instruction Packet is Broadcast ID, Status Packet is not returned regardless of Status Return Level.

Dynamixel can protect itself by detecting errors occur during the operation.  

The errors can be set are as the table below.

 

Bit	Name	Contents
Bit 7	0	-
Bit 6	Instruction Error	When undefined Instruction is transmitted or the Action command is delivered without   the reg_write command
Bit 5	Overload Error	When the current load cannot be controlled with the set maximum torque
Bit 4	CheckSum Error	When the Checksum of the transmitted Instruction Packet is invalid
Bit 3	Range Error	When the command is given beyond the range of usage
Bit 2	OverHeating Error	When the internal temperature is out of the range of operating temperature set in   the Control Table
Bit 1	Angle Limit Error	When Goal Position is written with the value that is not between CW Angle Limit and CCW   Angle Limit
Bit 0	Input Voltage Error	When the applied voltage is out of the range of operating voltage set in the Control Table

 

It is possible to make duplicate set since the function of each bit is run by  the logic of ‘OR’. That is, if 0X05 (binary 00000101) is set, both Input Voltage Error and Overheating Error can be detected.

If errors occur, in case of Alarm LED, the LED blinks; in case of Alarm Shutdown, the motor output becomes 0 % by making the value of Torque Limit(Address 34, 35) as 0.

Value	Meaning
0	Keeps Torque from generating by interrupting the power of motor.
1	Generates Torque by impressing the power to the motor.

Value	Meaning
0	Turn OFF the LED.
1	Turn ON the LED.

※ The relationship between Compliance Slop and PID Slope P Gain 8 128 16 64 32 32 64 16 128 8 The less the P gain, The larger the back lash, and the weaker the amount of output near goal position. At some extent, it is like a combined concept of margine and slope. It does not exactly match the previous concept of compliance. So it is obvious if you see the difference in terms of motion. ※ Explanation for PID required. For the brief explanation about general PID, please refer to the website(link) below. http://en.wikipedia.org/wiki/PID_controller FYI, PID control theory is not only limited to the control of motor(actuator) but is a generic theory that can be applied to all kinds of control.

It is the value of the maximum torque limit.  

0 to 1023 (0x3FF) is available, and the unit is about 0.1%.  

For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used.
If the power is turned on, the value of Max Torque (Address 14, 15) is used as the initial value.

 

Notes: If the function of Alarm Shutdown is triggered, the motor loses its torque because the value becomes 0.  At this moment, if the value is changed to the value other than 0, the motor can be used again.

It means currently applied load.

The range of the value is 0~2047, and the unit is about 0.1%.

If the value is 0~1023, it means the load works to the CCW direction.

If the value is 1024~2047, it means the load works to the CW direction.

That is, the 10th bit becomes the direction bit to control the direction, and 1024 is equal to 0.

For example, the value is 512, it means the load is detected in the direction of CCW about 50% of the maximum torque.

 

 

Notes: Current load is inferred from the internal torque value, not from Torque sensor etc. For that reason, it cannot be used to measure weight or torque; however, it must be used only to detect which direction the force works.

It is the size of the current voltage supplied.

This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 100 (0x64)

It is the internal temperature of Dynamixel in Celsius.

Data value is identical to the actual temperature in Celsius. For example, if the data value is 85 (0x55), the current internal temperature is 85℃.

Value	Meaning
0	There are no commands transmitted by REG_WRITE
1	There are commands transmitted by REG_WRITE.

 

Notes: If ACTION command is executed, the value is changed into 0.

Value	Meaning
0	Goal position command execution is completed.
1	Goal position command execution is in progress.

Value	Meaning
0	EEPROM area can be modified.
1	EEPROM area cannot be modified.

 

Caution: If Lock is set to 1, the power must be turned off and then turned on again to change into 0.

This is Goal Acceleration value.

It can be used from 0~254(0XFE), and the unit is approximately 8.583 Degree / sec^2.

When it is set to 0, there is no control over acceleration and moves with the maximum acceleration of the motor.

When the goal speead is set to 0, there is no control over acceleration and moves with the maximum acceleration of the motor.

When it is set to 254, it becomes 2180 Degree / sec^2

For example, the current speed of Dynamixel is 0, and Goal acceleration is 10,

The speed of Dynamixel after 1 second will be 14.3 RPM.

---

Error Report

Copyrights (c) 2010  ROBOTIS  All rights reserved.