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1: 2009-10-22 (木) 13:23:43 eid7gud  |
| | + | **メモリマップ [#kfc50b8a] |
| | + | 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|-| |
| | + | |1 (0x1)|[[Model Number(H)> ]]|R|-| |
| | + | |2 (0x2)|[[Version of Firmware> ]]|R|-| |
| | + | |3 (0x3)|[[ID> ]]|R/W|100 (0x64)| |
| | + | |4 (0x4)|[[Baudrate> ]]|R/W|1 (0x01)| |
| | + | |5 (0x5)|[[Return Delay Time> ]]|R/W|250 (0xFA)| |
| | + | |6 (0x6)|(Reserved)|-|-| |
| | + | |7 (0x7)|(Reserved)|-|-| |
| | + | |8 (0x8)|(Reserved)|-|-| |
| | + | |9 (0x9)|(Reserved)|-|-| |
| | + | |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)|(Reserved)|-|-| |
| | + | |15 (0xF)|(Reserved)|-|-| |
| | + | |16 (0x10)|[[Status Return Level> ]]|R/W|2 (0x02)| |
| | + | |17 (0x11)|(Reserved)|-|-| |
| | + | |18 (0x12)|(Reserved)|-|-| |
| | + | |19 (0x13)|(Reserved)|-|-| |
| | + | |20 (0x14)|[[IR Obstacle Detect Compare Value> ]]|R/W|32 (0x20)| |
| | + | |21 (0x15)|[[Light Detect Compare Value> ]]|R/W|32 (0x20)| |
| | + | |22 (0x16)|(Reserved)|-|-| |
| | + | |23 (0x17)|(Reserved)|-|-| |
| | + | |24 (0x18)|(Reserved)|-|-| |
| | + | |25 (0x19)|(Reserved)|-|-| |
| | + | |26 (0x1A)|[[IR Left Fire Data> ]]|R|?| |
| | + | |27 (0x1B)|[[IR Center Fire Data> ]]|R|?| |
| | + | |28 (0x1C)|[[IR Right Fire Data> ]]|R|?| |
| | + | |29 (0x1D)|[[Light Left Data> ]]|R|?| |
| | + | |30 (0x1E)|[[Light Center Data> ]]|R|?| |
| | + | |31 (0x1F)|[[Light Right Data> ]]|R|?| |
| | + | |32 (0x20)|[[IR Obstacle Detected> ]]|R|?| |
| | + | |33 (0x21)|[[Light Detected> ]]|R|?| |
| | + | |34 (0x22)|(Reserved)|-|-| |
| | + | |35 (0x23)|[[Torque Limit (H)>#sa69d1ab]]|R/W|[Addr15]value| |
| | + | |36 (0x24)|[[Present Position (L)>#g40fd002]]|R|?| |
| | + | |37 (0x25)|[[Present Position (H)>#g40fd002]]|R|?| |
| | + | |38 (0x26)|[[Present Speed (L)>#ra254ee8]]|R|?| |
| | + | |39 (0x27)|[[Present Speed (H)>#ra254ee8]]|R|?| |
| | + | |40 (0x28)|[[Present Load (L)>#k921f4f9]]|R|?| |
| | + | |41 (0x29)|[[Present Load (H)>#k921f4f9]]|R|?| |
| | + | |42 (0x2A)|[[Present Voltage>#o9dde163]]|R|?| |
| | + | |43 (0x2B)|[[Present Temperature>#yb6e508c]]|R|?| |
| | + | |44 (0x2C)|[[Registered Instruction>#x5982be7]]|R/W|0 (0x00)| |
| | + | |45 (0x2D)|(Reserved)|-|0 (0x00)| |
| | + | |46 (0x2E)|[[Moving>#jf0f3fa1]]|R|0 (0x00)| |
| | + | |47 (0x2F)|[[Lock>#bb3a2a7c]]|R/W|0 (0x00)| |
| | + | |48 (0x30)|[[Punch (L)>#f79fd083]]|R/W|32 (0x20)| |
| | + | |49 (0x31)|[[Punch (H)>#f79fd083]]|R/W|0 (0x00)| |
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