8: 2015-11-27 (金) 19:50:05 takaboo  |
9: 2015-11-29 (日) 22:40:38 takaboo |
| | なお、複数バイトに渡るアイテムは、同時性を確保するために1回のインストラクションパケットにおいて読み書きする必要があります。 | | なお、複数バイトに渡るアイテムは、同時性を確保するために1回のインストラクションパケットにおいて読み書きする必要があります。 |
| | |=~Control Table|||||h | | |=~Control Table|||||h |
| - | |=''Address''|=''Item''|=''Access''|=''Initial Value''|=''Range''| | + | |=''Address''|=''Item''|=''Access''|=''Reset Value''|=''Range''| |
| | |CENTER:|LEFT:|CENTER:|CENTER:|CENTER:|c | | |CENTER:|LEFT:|CENTER:|CENTER:|CENTER:|c |
| - | |0 (0x0)|[[Model Number>#ta493b6c]]|R|-| | | + | |0 (0x0)|[[Model Number>#ta493b6c]]|R|-|uint16| |
| | |1 (0x1)|~|~|~|~| | | |1 (0x1)|~|~|~|~| |
| - | |2 (0x2)|[[Version of Firmware>#x2b21b74]]|R|-| | | + | |2 (0x2)|[[Version of Firmware>#x2b21b74]]|R|-|uint8| |
| - | |3 (0x3)|[[ID>#n563922f]]|R/W|1 (0x01)|0~253| | + | |3 (0x3)|[[ID>#n563922f]]|R/W|1|uint8&br;0~253| |
| - | |4 (0x4)|[[Baudrate>#r27c0a5d]]|R/W|34 (0x22)&br;(MX-12Wのみ1)|0~254| | + | |4 (0x4)|[[Baudrate>#r27c0a5d]]|R/W (NVM)|34&br;(MX-12Wのみ1)|uint8&br;0~254| |
| - | |5 (0x5)|[[Return Delay Time>#z6a035d0]]|R/W|250 (0xFA)|0~254| | + | |5 (0x5)|[[Return Delay Time>#z6a035d0]]|R/W (NVM)|250|uint8&br;0~254| |
| - | |6 (0x6)|[[CW Angle Limit>#h4561931]]|R/W|0 (0x00)|0~4095| | + | |6 (0x6)|[[CW Angle Limit>#h4561931]]|R/W (NVM)|0|uint16&br;0~4095| |
| | |7 (0x7)|~|~|~|~| | | |7 (0x7)|~|~|~|~| |
| - | |8 (0x8)|[[CCW Angle Limit>#u752e406]]|R/W|4095 (0xFFF)|0~4095| | + | |8 (0x8)|[[CCW Angle Limit>#u752e406]]|R/W (NVM)|4095|uint16&br;0~4095| |
| | |9 (0x9)|~|~|~|~| | | |9 (0x9)|~|~|~|~| |
| - | |10 (0xA)|[[Drive Mode>#rd7fa695]]|R/W|0 (0x00)|0~3| | + | |10 (0xA)|[[Drive Mode>#rd7fa695]]|R/W (NVM)|0|uint8&br;0~3| |
| - | |11 (0xB)|[[Highest Limit Temperature>#eae67652]]|R/W|80 (0x50)|10~99| | + | |11 (0xB)|[[Highest Limit Temperature>#eae67652]]|R/W (NVM)|80|uint8&br;10~99| |
| - | |12 (0xC)|[[Lowest Limit Voltage>#l2901ded]]|R/W|60 (0x3C)|50~250| | + | |12 (0xC)|[[Lowest Limit Voltage>#l2901ded]]|R/W (NVM)|60|uint8&br;50~250| |
| - | |13 (0xD)|[[Highest Limit Voltage>#sf36842f]]|R/W|160 (0xA0)|50~250| | + | |13 (0xD)|[[Highest Limit Voltage>#sf36842f]]|R/W (NVM)|160|uint8&br;50~250| |
| - | |14 (0xE)|[[Max Torque>#m8848974]]|R/W|1023 (0x3FF)|0~1023| | + | |14 (0xE)|[[Max Torque>#m8848974]]|R/W (NVM)|1023|uint16&br;0~1023| |
| | |15 (0xF)|~|~|~|~| | | |15 (0xF)|~|~|~|~| |
| - | |16 (0x10)|[[Status Return Level>#mc2f793d]]|R/W|2 (0x02)|0~2| | + | |16 (0x10)|[[Status Return Level>#mc2f793d]]|R/W (NVM)|2|uint8&br;0~2| |
| - | |17 (0x11)|[[Alarm LED>#q8d97e3d]]|R/W|36 (0x24)|0~127| | + | |17 (0x11)|[[Alarm LED>#q8d97e3d]]|R/W (NVM)|36|uint8&br;0~127| |
| - | |18 (0x12)|[[Alarm Shutdwon>#y219e63a]]|R/W|36 (0x24)|0~127| | + | |18 (0x12)|[[Alarm Shutdwon>#y219e63a]]|R/W (NVM)|36|uint8&br;0~127| |
| - | |20 (0x14)|[[Down Calibration>#f95fb07c]]|R|?| | | + | |20 (0x14)|[[Down Calibration>#f95fb07c]]|R|?|uint16| |
| | |21 (0x15)|~|~|~|~| | | |21 (0x15)|~|~|~|~| |
| - | |22 (0x16)|[[Up Calibration>#hceb4e38]]|R|?| | | + | |22 (0x16)|[[Up Calibration>#hceb4e38]]|R|?|uint16| |
| | |23 (0x17)|~|~|~|~| | | |23 (0x17)|~|~|~|~| |
| - | |24 (0x18)|[[Torque Enable>#ae42664f]]|R/W|0 (0x00)|0~1| | + | |24 (0x18)|[[Torque Enable>#ae42664f]]|R/W (NVM)|0|uint8&br;0~1| |
| - | |25 (0x19)|[[LED>#j0f1ab3d]]|R/W|0 (0x00)|0~1| | + | |25 (0x19)|[[LED>#j0f1ab3d]]|R/W (NVM)|0|uint8&br;0~1| |
| - | |26 (0x1A)|[[D Gain>#z76ef779]]|R/W|0 (0x00)&br;(MX-12Wのみ8)|0~254| | + | |26 (0x1A)|[[D Gain>#z76ef779]]|R/W|0&br;(MX-12Wのみ8)|uint8&br;0~254| |
| - | |27 (0x1B)|[[I Gain>#n47ffacd]]|R/W|0 (0x00)|0~254| | + | |27 (0x1B)|[[I Gain>#n47ffacd]]|R/W|0|uint8&br;0~254| |
| - | |28 (0x1C)|[[P Gain>#l6ed04c6]]|R/W|32 (0x20)&br;(MX-12Wのみ8)|1~254| | + | |28 (0x1C)|[[P Gain>#l6ed04c6]]|R/W|32&br;(MX-12Wのみ8)|uint8&br;1~254| |
| - | |30 (0x1E)|[[Goal Position>#i10660fa]]|R/W|[Addr36]value|0~4095/-28672~28672| | + | |30 (0x1E)|[[Goal Position>#i10660fa]]|R/W|[Addr36]value|uint16/int16&br;0~4095/-28672~28672| |
| | |31 (0x1F)|~|~|~|~| | | |31 (0x1F)|~|~|~|~| |
| - | |32 (0x20)|[[Moving Speed>#s3139326]]|R/W|0 (0x00)|-1023~1023| | + | |32 (0x20)|[[Moving Speed>#s3139326]]|R/W|0|uint16&br;-1023~1023| |
| | |33 (0x21)|~|~|~|~| | | |33 (0x21)|~|~|~|~| |
| - | |34 (0x22)|[[Torque Limit>#l9afa11c]]|R/W|[Addr14]value|0~1023| | + | |34 (0x22)|[[Torque Limit>#l9afa11c]]|R/W|[Addr14]value|uint16&br;0~1023| |
| | |35 (0x23)|~|~|~|~| | | |35 (0x23)|~|~|~|~| |
| - | |36 (0x24)|[[Present Position>#v2f847df]]|R|?| | | + | |36 (0x24)|[[Present Position>#v2f847df]]|R|?|uint16&br;| |
| | |37 (0x25)|~|~|~|~| | | |37 (0x25)|~|~|~|~| |
| - | |38 (0x26)|[[Present Speed>#qeda324a]]|R|?| | | + | |38 (0x26)|[[Present Speed>#qeda324a]]|R|?|uint16&br;| |
| | |39 (0x27)|~|~|~|~| | | |39 (0x27)|~|~|~|~| |
| - | |40 (0x28)|[[Present Load>#j002f18d]]|R|?| | | + | |40 (0x28)|[[Present Load>#j002f18d]]|R|?|uint8&br;| |
| | |41 (0x29)|~|~|~|~| | | |41 (0x29)|~|~|~|~| |
| - | |42 (0x2A)|[[Present Voltage>#r74e7fb8]]|R|?| | | + | |42 (0x2A)|[[Present Voltage>#r74e7fb8]]|R|?|uint8&br;| |
| - | |43 (0x2B)|[[Present Temperature>#i9d8fe30]]|R|?| | | + | |43 (0x2B)|[[Present Temperature>#i9d8fe30]]|R|?|uint8&br;| |
| - | |44 (0x2C)|[[Registered Instruction>#oc452a69]]|R/W|0 (0x00)|0~1| | + | |44 (0x2C)|[[Registered Instruction>#oc452a69]]|R/W|0|uint8&br;0~1| |
| - | |46 (0x2E)|[[Moving>#vc953eee]]|R|0 (0x00)| | | + | |46 (0x2E)|[[Moving>#vc953eee]]|R|0|uint8&br;| |
| - | |47 (0x2F)|[[Lock>#ib2c369f]]|R/W|0 (0x00)|0~1| | + | |47 (0x2F)|[[Lock>#ib2c369f]]|R/W|0|uint8&br;0~1| |
| - | |48 (0x30)|[[Punch>#edd9e980]]|R/W|32 (0x20)|0~1023| | + | |48 (0x30)|[[Punch>#edd9e980]]|R/W|32|uint16&br;0~1023| |
| | |49 (0x31)|~|~|~|~| | | |49 (0x31)|~|~|~|~| |
| - | |68 (0x44)|[[Current>#vfbc0b35]]|R|?|0~4095 | | + | |68 (0x44)|[[Current>#vfbc0b35]]|R|?|uint16&br;0~4095| |
| | |69 (0x45)|~|~|~|~| | | |69 (0x45)|~|~|~|~| |
| - | |70 (0x46)|[[Torque Control Mode Enable>#v4678328]]|R/W|0 (0x00)|0~1| | + | |70 (0x46)|[[Torque Control Mode Enable>#v4678328]]|R/W|0|uint8&br;0~1| |
| - | |71 (0x47)|[[Goal Torque>#b7f047a6]]|R/W|0 (0x0000)|0~2047| | + | |71 (0x47)|[[Goal Torque>#b7f047a6]]|R/W|0|uint16&br;0~2047| |
| | |72 (0x48)|~|~|~|~| | | |72 (0x48)|~|~|~|~| |
| - | |73 (0x49)|[[Goal Acceleration>#z3b818ed]]|R/W|0 (0x00)|0~254| | + | |73 (0x49)|[[Goal Acceleration>#z3b818ed]]|R/W|0|uint8&br;0~254| |
| | | | |
| | **各アイテムの詳細 [#hd8e7c4e] | | **各アイテムの詳細 [#hd8e7c4e] |
| | | | |
| | ***4:Baudrate [#r27c0a5d] | | ***4:Baudrate [#r27c0a5d] |
| - | 通信速度を決定します。値が249以下であれば次の式でボーレートが算出されます。~ | + | 通信速度を決める分周値で、通信速度は次式で導かれます。~ |
| - | Baudrate[BPS]=2000000 / (value + 1)~ | + | Baudrate[bps]=2000000 / (value + 1)~ |
| - | ~ | + | |
| - | 主なBaudrateのデータ値~ | + | 主なBaudrate~ |
| - | | value | Actual Baudrate | Specified Baudrate[bps] | Error[%] | | + | | value | Actual Baudrate[bps] | Specified Baudrate[bps] | Error[%] | |
| - | | 0 | 2000000.0| 2000000| 0.000| | + | | 1| 1000000.0| 1000000| 0.000| |
| - | | 1 | 1000000.0| 1000000| 0.000| | + | | 3| 500000.0| 500000| 0.000| |
| - | | 3 | 500000.0| 500000| 0.000| | + | | 4| 400000.0| 400000| 0.000| |
| - | | 4 | 400000.0| 400000| 0.000| | + | | 7| 250000.0| 250000| 0.000| |
| - | | 7 | 250000.0| 250000| 0.000| | + | | 9| 200000.0| 200000| 0.000| |
| - | | 9 | 200000.0| 200000| 0.000| | + | | 16| 117647.1| 115200| -2.124| |
| - | | 16 | 117647.1| 115200| -2.124| | + | | 34| 57142.9| 57600| 0.794| |
| - | | 34 | 57142.9| 57600| 0.794| | + | | 103| 19230.8| 19200| -0.160| |
| - | | 103 | 19230.8| 19200| -0.160| | + | | 207| 9615.4| 9600| -0.160| |
| - | | 207 | 9615.4| 9600| -0.160| | + | ※ホストとのボーレートの誤差は±2%以下が要求されます。 |
| - | | 249 | 8000.0| 8000| 0.00| | + | |
| - | ホストとのボーレートの誤差は±2%以下が要求されます。 | + | |
| | | | |
| | なお、MXシリーズのみ以下の値の時にイリガルなボーレートが割り当てられていますので注意が必要です。 | | なお、MXシリーズのみ以下の値の時にイリガルなボーレートが割り当てられていますので注意が必要です。 |
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