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1: 2009-07-02 (木) 12:26:34 sho  |
| | + | **メモリマップ [#m54c6bba] |
| | + | Dynamixelの内部機能及び設定は次に示すメモリマップとして提供され、インストラクションパケットを使用して操作されます。Dynamixelはコントロールテーブルに値を書くことで操作され、状態はコントロールテーブルから値を読むことで確認します。~ |
| | + | 16ビットデータレジスタは(L)と(H)の2バイトで表されます。両方のバイトが1つのインストラクションパケットにおいて同時に書き込まれる必要があります。 |
| | + | |Address|Item|Access Initial Value| |
| | + | |0 (0x0)|Model Number(L)|R|28 (0x1C)| |
| | + | |1 (0x1)|Model Number(H)|R|0 (0x00)| |
| | + | |2 (0x2)|Version of Firmware|R|?| |
| | + | |3 (0x3)|ID|R/W|1 (0x01)| |
| | + | |4 (0x4)|Baudrate|R/W|34 (0x22)| |
| | + | |5 (0x5)|Return Delay Time|R/W|250 (0xFA)| |
| | + | |6 (0x6)|CW Angle Limit (L)|R/W|0 (0x00)| |
| | + | |7 (0x7)|CW Angle Limit (H)|R/W|0 (0x00)| |
| | + | |8 (0x8)|CCW Angle Limit (L)|R/W|255 (0xFF)| |
| | + | |9 (0x9)|CCW Angle Limit (H)|R/W|3 (0x03)| |
| | + | |10 (0xA)|(Reserved)|-|0 (0x00)| |
| | + | |11 (0xB)|Highest Limit Temperature|R/W|80 (0x50)| |
| | + | |12 (0xC)|Lowest Limit Voltage|R/W|60 (0x3C)| |
| | + | |13 (0xD)|Highest Limit Voltage|R/W|190 (0xBE)| |
| | + | |14 (0xE)|Max Torque (L)|R/W|255 (0xFF)| |
| | + | |15 (0xF)|Max Torque (H)|R/W|3 (0x03)| |
| | + | |16 (0x10)|Status Return Level|R/W|2 (0x02)| |
| | + | |17 (0x11)|Alarm LED|R/W|36 (0x24)| |
| | + | |18 (0x12)|Alarm Shutdwon|R/W|36 (0x24)| |
| | + | |19 (0x13)|(Reserved)|RW|0 (0x00)| |
| | + | |20 (0x14)|Down Calibration (L)|R|?| |
| | + | |21 (0x15)|Down Calibration (H)|R|?| |
| | + | |22 (0x16)|Up Calibration (L)|R|?| |
| | + | |23 (0x17)|Up Calibration (H)|R|?| |
| | + | |24 (0x18)|Torque Enable|R/W|0 (0x00)| |
| | + | |25 (0x19)|LED R/W|0 (0x00)| |
| | + | |26 (0x1A)|CW Compliance Margin|R/W|1 (0x00)| |
| | + | |27 (0x1B)|CCW Compliance Margin|R/W|1 (0x00)| |
| | + | |28 (0x1C)|CW Compliance Slope|R/W|32 (0x20)| |
| | + | |29 (0x1D)|CCW Compliance Slope|R/W|32 (0x20)| |
| | + | |30 (0x1E)|Goal Position (L)|R/W|[Addr36]value| |
| | + | |31 (0x1F)|Goal Position (H)|R/W|[Addr37]value| |
| | + | |32 (0x20)|Moving Speed (L)|R/W|0 (0x00)| |
| | + | |33 (0x21)|Moving Speed (H)|R/W|0 (0x00)| |
| | + | |34 (0x22)|Torque Limit (L)|R/W|[Addr14]value| |
| | + | |35 (0x23)|Torque Limit (H)|R/W|[Addr15]value| |
| | + | |36 (0x24)|Present Position (L)|R|?| |
| | + | |37 (0x25)|Present Position (H)|R|?| |
| | + | |38 (0x26)|Present Speed (L)|R|?| |
| | + | |39 (0x27)|Present Speed (H)|R|?| |
| | + | |40 (0x28)|Present Load (L)|R|?| |
| | + | |41 (0x29)|Present Load (H)|R|?| |
| | + | |42 (0x2A)|Present Voltage|R|?| |
| | + | |43 (0x2B)|Present Temperature|R|?| |
| | + | |44 (0x2C)|Registered Instruction|R/W|0 (0x00)| |
| | + | |45 (0x2D)|(Reserved)|-|0 (0x00)| |
| | + | |46 (0x2E)|Moving|R|0 (0x00)| |
| | + | |47 (0x2F)|Lock|R/W|0 (0x00)| |
| | + | |48 (0x30)|Punch (L)|R/W|32 (0x20)| |
| | + | |49 (0x31)|Punch (H)|R/W|0 (0x00)| |
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