3: 2015-11-27 (金) 19:46:55 takaboo[6] [7] | 4: 2015-11-28 (土) 00:35:54 takaboo[6] [8] | ||
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Line 112: | Line 112: | ||
専用の通信プロトコルを用いて本製品の内部情報を読み書きします。~ | 専用の通信プロトコルを用いて本製品の内部情報を読み書きします。~ | ||
Dynamixelシリーズ共通する情報はコントロールテーブル上の先頭の5バイトのみで、それ以外のアドレスには互換性はありません。 | Dynamixelシリーズ共通する情報はコントロールテーブル上の先頭の5バイトのみで、それ以外のアドレスには互換性はありません。 | ||
- | |=''Address''|=''Item''|=''Access''|=''Initial Value''|=''Range''|h | + | |=''Address''|=''Item''|=''Access''|=''Default Value''|=''Range''|h |
|CENTER:|LEFT:|CENTER:|CENTER:|CENTER:|c | |CENTER:|LEFT:|CENTER:|CENTER:|CENTER:|c | ||
- | |0 (0x0)|BGCOLOR(silver):[[Model Number>#n4d55da8]]|R|16416 (0x4020)|-| | + | |0 (0x0)|BGCOLOR(silver):[[Model Number>#n4d55da8]]|R|0x4020|-| |
|1 (0x1)|~|~|~|~| | |1 (0x1)|~|~|~|~| | ||
|2 (0x2)|BGCOLOR(silver):[[Version of Firmware>#s44e01a9]]|R|?|-| | |2 (0x2)|BGCOLOR(silver):[[Version of Firmware>#s44e01a9]]|R|?|-| | ||
- | |3 (0x3)|BGCOLOR(lightgrey):[[ID>#cf9c14f9]]|R/W|200 (0x64)|0~253| | + | |3 (0x3)|BGCOLOR(lightgrey):[[ID>#cf9c14f9]]|R/W&br;(NVM)|200|0~253| |
- | |4 (0x4)|BGCOLOR(lightgrey):[[Baudrate>#y9835609]]|R/W|1 (0x01)|0~254| | + | |4 (0x4)|BGCOLOR(lightgrey):[[Baudrate>#y9835609]]|R/W&br;(NVM)|1|0~254| |
- | |5 (0x5)|[[WriteNVM>#iee6d02c]]|R/W|0 (0x00)|0~1| | + | |5 (0x5)|BGCOLOR(lightcyan):[[WriteNVM>#iee6d02c]]|R/W|0|0~1| |
- | |6 (0x6)|[[LED>#db0623c9]]|R/W|0 (0x00)|0~1| | + | |6 (0x6)|BGCOLOR(lightcyan):[[LED>#db0623c9]]|R/W|0|0~1| |
- | |7 (0x7)|BGCOLOR(lightgrey):[[Pin Config 0>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |7 (0x7)|BGCOLOR(lightgrey):[[Pin Config 0>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |8 (0x8)|BGCOLOR(lightgrey):[[Pin Config 1>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |8 (0x8)|BGCOLOR(lightgrey):[[Pin Config 1>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |9 (0x9)|BGCOLOR(lightgrey):[[Pin Config 2>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |9 (0x9)|BGCOLOR(lightgrey):[[Pin Config 2>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |10 (0xA)|BGCOLOR(lightgrey):[[Pin Config 3>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |10 (0xA)|BGCOLOR(lightgrey):[[Pin Config 3>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |11 (0xB)|BGCOLOR(lightgrey):[[Pin Config 4>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |11 (0xB)|BGCOLOR(lightgrey):[[Pin Config 4>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |12 (0xC)|BGCOLOR(lightgrey):[[Pin Config 5>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |12 (0xC)|BGCOLOR(lightgrey):[[Pin Config 5>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |13 (0xD)|BGCOLOR(lightgrey):[[Pin Config 6>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |13 (0xD)|BGCOLOR(lightgrey):[[Pin Config 6>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |14 (0xE)|BGCOLOR(lightgrey):[[Pin Config 7>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |14 (0xE)|BGCOLOR(lightgrey):[[Pin Config 7>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |15 (0xF)|BGCOLOR(lightgrey):[[Pin Config 8>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |15 (0xF)|BGCOLOR(lightgrey):[[Pin Config 8>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |16 (0x10)|BGCOLOR(lightgrey):[[Pin Config 9>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |16 (0x10)|BGCOLOR(lightgrey):[[Pin Config 9>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |17 (0x11)|BGCOLOR(lightgrey):[[Pin Config 10>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |17 (0x11)|BGCOLOR(lightgrey):[[Pin Config 10>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |18 (0x12)|BGCOLOR(lightgrey):[[Pin Config 11>#xbae87b5]]|R/W|0 (0x00)|0~20| | + | |18 (0x12)|BGCOLOR(lightgrey):[[Pin Config 11>#xbae87b5]]|R/W&br;(NVM)|0|0~20| |
- | |19 (0x13)|BGCOLOR(lightgrey):[[Base Clock>#gc9bef4b]]|R/W|0 (0x00)|0~10| | + | |19 (0x13)|BGCOLOR(lightgrey):[[Base Clock>#gc9bef4b]]|R/W&br;(NVM)|0|0~10| |
- | |20 (0x14)|[[PWM Cycle 0>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |20 (0x14)|BGCOLOR(lightcyan):[[PWM Cycle 0>#x543dc01]]|R/W|0|0~65535| |
|21 (0x15)|^|^|^|^| | |21 (0x15)|^|^|^|^| | ||
- | |22 (0x16)|[[PWM Duty 0>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |22 (0x16)|BGCOLOR(lightcyan):[[PWM Duty 0>#x543dc01]]|R/W|0|0~65535| |
|23 (0x17)|^|^|^|^| | |23 (0x17)|^|^|^|^| | ||
- | |24 (0x18)|[[PWM Cycle 1>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |24 (0x18)|BGCOLOR(lightcyan):[[PWM Cycle 1>#x543dc01]]|R/W|0|0~65535| |
|25 (0x19)|^|^|^|^| | |25 (0x19)|^|^|^|^| | ||
- | |26 (0x1A)|[[PWM Duty 1>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |26 (0x1A)|BGCOLOR(lightcyan):[[PWM Duty 1>#x543dc01]]|R/W|0|0~65535| |
|27 (0x1B)|^|^|^|^| | |27 (0x1B)|^|^|^|^| | ||
- | |28 (0x1C)|[[PWM Cycle 2>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |28 (0x1C)|BGCOLOR(lightcyan):[[PWM Cycle 2>#x543dc01]]|R/W|0|0~65535| |
|29 (0x1D)|^|^|^|^| | |29 (0x1D)|^|^|^|^| | ||
- | |30 (0x1E)|[[PWM Duty 2>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |30 (0x1E)|BGCOLOR(lightcyan):[[PWM Duty 2>#x543dc01]]|R/W|0|0~65535| |
|31 (0x1F)|^|^|^|^| | |31 (0x1F)|^|^|^|^| | ||
- | |32 (0x20)|[[PWM Cycle 3>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |32 (0x20)|BGCOLOR(lightcyan):[[PWM Cycle 3>#x543dc01]]|R/W|0|0~65535| |
|33 (0x21)|^|^|^|^| | |33 (0x21)|^|^|^|^| | ||
- | |34 (0x22)|[[PWM Duty 3>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |34 (0x22)|BGCOLOR(lightcyan):[[PWM Duty 3>#x543dc01]]|R/W|0|0~65535| |
|35 (0x23)|^|^|^|^| | |35 (0x23)|^|^|^|^| | ||
- | |36 (0x24)|[[PWM Cycle 4>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |36 (0x24)|BGCOLOR(lightcyan):[[PWM Cycle 4>#x543dc01]]|R/W|0|0~65535| |
|37 (0x25)|^|^|^|^| | |37 (0x25)|^|^|^|^| | ||
- | |38 (0x26)|[[PWM Duty 4>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |38 (0x26)|BGCOLOR(lightcyan):[[PWM Duty 4>#x543dc01]]|R/W|0|0~65535| |
|39 (0x27)|^|^|^|^| | |39 (0x27)|^|^|^|^| | ||
- | |40 (0x28)|[[PWM Cycle 5>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |40 (0x28)|BGCOLOR(lightcyan):[[PWM Cycle 5>#x543dc01]]|R/W|0|0~65535| |
|41 (0x29)|^|^|^|^| | |41 (0x29)|^|^|^|^| | ||
- | |42 (0x2A)|[[PWM Duty 5>#x543dc01]]|R/W|0 (0x0000)|0~65535| | + | |42 (0x2A)|BGCOLOR(lightcyan):[[PWM Duty 5>#x543dc01]]|R/W|0|0~65535| |
|43 (0x2B)|^|^|^|^| | |43 (0x2B)|^|^|^|^| | ||
- | |44 (0x2C)|[[Capture 0>#v88310ce]]|R/W|0 (0x0000)|0~65535| | + | |44 (0x2C)|BGCOLOR(lightcyan):[[Capture 0>#v88310ce]]|R/W|0|0~65535| |
|45 (0x2D)|^|^|^|^| | |45 (0x2D)|^|^|^|^| | ||
- | |46 (0x2E)|[[Capture 1>#v88310ce]]|R/W|0 (0x0000)|0~65535| | + | |46 (0x2E)|BGCOLOR(lightcyan):[[Capture 1>#v88310ce]]|R/W|0|0~65535| |
|47 (0x2F)|^|^|^|^| | |47 (0x2F)|^|^|^|^| | ||
- | |48 (0x30)|[[Capture 2>#v88310ce]]|R/W|0 (0x0000)|0~65535| | + | |48 (0x30)|BGCOLOR(lightcyan):[[Capture 2>#v88310ce]]|R/W|0|0~65535| |
|49 (0x31)|^|^|^|^| | |49 (0x31)|^|^|^|^| | ||
- | |50 (0x32)|[[Capture 3>#v88310ce]]|R/W|0 (0x0000)|0~65535| | + | |50 (0x32)|BGCOLOR(lightcyan):[[Capture 3>#v88310ce]]|R/W|0|0~65535| |
|51 (0x33)|^|^|^|^| | |51 (0x33)|^|^|^|^| | ||
- | |52 (0x34)|[[OUT>#]]|R/W|0 (0x0000)|0~4095| | + | |52 (0x34)|BGCOLOR(lightcyan):[[OUT>#]]|R/W|0|0~4095| |
|53 (0x35)|^|^|^|^| | |53 (0x35)|^|^|^|^| | ||
- | |54 (0x36)|BGCOLOR(lightcyan):[[IN>#]]|R|-|0~4095| | + | |54 (0x36)|BGCOLOR(silver):[[IN>#]]|R|-|0~4095| |
|55 (0x37)|^|^|^|^| | |55 (0x37)|^|^|^|^| | ||
- | |56 (0x38)|BGCOLOR(lightcyan):[[ADV 0>#a489271c]]|R|-|0~4095| | + | |56 (0x38)|BGCOLOR(silver):[[ADV 0>#a489271c]]|R|-|0~4095| |
|57 (0x39)|^|^|^|^| | |57 (0x39)|^|^|^|^| | ||
- | |58 (0x3A)|BGCOLOR(lightcyan):[[ADV 1>#a489271c]]|R|-|0~4095| | + | |58 (0x3A)|BGCOLOR(silver):[[ADV 1>#a489271c]]|R|-|0~4095| |
|59 (0x3B)|^|^|^|^| | |59 (0x3B)|^|^|^|^| | ||
- | |60 (0x3C)|BGCOLOR(lightcyan):[[ADV 2>#a489271c]]|R|-|0~4095| | + | |60 (0x3C)|BGCOLOR(silver):[[ADV 2>#a489271c]]|R|-|0~4095| |
|61 (0x3D)|^|^|^|^| | |61 (0x3D)|^|^|^|^| | ||
- | |62 (0x3E)|BGCOLOR(lightcyan):[[ADV 3>#a489271c]]|R|-|0~4095| | + | |62 (0x3E)|BGCOLOR(silver):[[ADV 3>#a489271c]]|R|-|0~4095| |
|63 (0x3F)|^|^|^|^| | |63 (0x3F)|^|^|^|^| | ||
- | |64 (0x40)|BGCOLOR(lightcyan):[[ADV 4>#a489271c]]|R|-|0~4095| | + | |64 (0x40)|BGCOLOR(silver):[[ADV 4>#a489271c]]|R|-|0~4095| |
|65 (0x41)|^|^|^|^| | |65 (0x41)|^|^|^|^| | ||
- | |66 (0x42)|BGCOLOR(lightcyan):[[ADV 5>#a489271c]]|R|-|0~4095| | + | |66 (0x42)|BGCOLOR(silver):[[ADV 5>#a489271c]]|R|-|0~4095| |
|67 (0x43)|^|^|^|^| | |67 (0x43)|^|^|^|^| | ||
- | |68 (0x44)|BGCOLOR(lightcyan):[[ADV 6>#a489271c]]|R|-|0~4095| | + | |68 (0x44)|BGCOLOR(silver):[[ADV 6>#a489271c]]|R|-|0~4095| |
|69 (0x45)|^|^|^|^| | |69 (0x45)|^|^|^|^| | ||
- | |70 (0x46)|BGCOLOR(lightcyan):[[ADV 7>#a489271c]]|R|-|0~4095| | + | |70 (0x46)|BGCOLOR(silver):[[ADV 7>#a489271c]]|R|-|0~4095| |
|71 (0x47)|^|^|^|^| | |71 (0x47)|^|^|^|^| | ||
- | |72 (0x48)|BGCOLOR(lightcyan):[[ADV 8>#a489271c]]|R|-|0~4095| | + | |72 (0x48)|BGCOLOR(silver):[[ADV 8>#a489271c]]|R|-|0~4095| |
|73 (0x49)|^|^|^|^| | |73 (0x49)|^|^|^|^| | ||
- | |74 (0x4A)|BGCOLOR(lightcyan):[[ADV 9>#a489271c]]|R|-|0~4095| | + | |74 (0x4A)|BGCOLOR(silver):[[ADV 9>#a489271c]]|R|-|0~4095| |
|75 (0x4B)|^|^|^|^| | |75 (0x4B)|^|^|^|^| | ||
- | |76 (0x4C)|BGCOLOR(lightcyan):[[ADV 10>#a489271c]]|R|-|0~4095| | + | |76 (0x4C)|BGCOLOR(silver):[[ADV 10>#a489271c]]|R|-|0~4095| |
|77 (0x4D)|^|^|^|^| | |77 (0x4D)|^|^|^|^| | ||
- | |78 (0x4E)|BGCOLOR(lightcyan):[[ADV 11>#a489271c]]|R|-|0~4095| | + | |78 (0x4E)|BGCOLOR(silver):[[ADV 11>#a489271c]]|R|-|0~4095| |
|79 (0x4F)|^|^|^|^| | |79 (0x4F)|^|^|^|^| | ||
- | |80 (0x50)|[[USER 0>#]]|R/W|0|0~255| | + | |80 (0x50)|BGCOLOR(lightcyan):[[USER 0>#]]|R/W|0|0~255| |
- | |81 (0x51)|[[USER 1>#]]|R/W|0|0~255| | + | |81 (0x51)|BGCOLOR(lightcyan):[[USER 1>#]]|R/W|0|0~255| |
- | |82 (0x52)|[[USER 2>#]]|R/W|0|0~255| | + | |82 (0x52)|BGCOLOR(lightcyan):[[USER 2>#]]|R/W|0|0~255| |
- | |83 (0x53)|[[USER 3>#]]|R/W|0|0~255| | + | |83 (0x53)|BGCOLOR(lightcyan):[[USER 3>#]]|R/W|0|0~255| |
- | |84 (0x54)|[[USER 4>#]]|R/W|0|0~255| | + | |84 (0x54)|BGCOLOR(lightcyan):[[USER 4>#]]|R/W|0|0~255| |
- | |85 (0x55)|[[USER 5>#]]|R/W|0|0~255| | + | |85 (0x55)|BGCOLOR(lightcyan):[[USER 5>#]]|R/W|0|0~255| |
- | |86 (0x56)|[[USER 6>#]]|R/W|0|0~255| | + | |86 (0x56)|BGCOLOR(lightcyan):[[USER 6>#]]|R/W|0|0~255| |
- | |87 (0x57)|[[USER 7>#]]|R/W|0|0~255| | + | |87 (0x57)|BGCOLOR(lightcyan):[[USER 7>#]]|R/W|0|0~255| |
- | |88 (0x58)|[[USER 8>#]]|R/W|0|0~255| | + | |88 (0x58)|BGCOLOR(lightcyan):[[USER 8>#]]|R/W|0|0~255| |
- | |89 (0x59)|[[USER 9>#]]|R/W|0|0~255| | + | |89 (0x59)|BGCOLOR(lightcyan):[[USER 9>#]]|R/W|0|0~255| |
- | |90 (0x5A)|[[USER 10>#]]|R/W|0|0~255| | + | |90 (0x5A)|BGCOLOR(lightcyan):[[USER 10>#]]|R/W|0|0~255| |
- | |91 (0x5B)|[[USER 11>#]]|R/W|0|0~255| | + | |91 (0x5B)|BGCOLOR(lightcyan):[[USER 11>#]]|R/W|0|0~255| |
- | |92 (0x5C)|[[USER 12>#]]|R/W|0|0~255| | + | |92 (0x5C)|BGCOLOR(lightcyan):[[USER 12>#]]|R/W|0|0~255| |
- | |93 (0x5D)|[[USER 13>#]]|R/W|0|0~255| | + | |93 (0x5D)|BGCOLOR(lightcyan):[[USER 13>#]]|R/W|0|0~255| |
- | |94 (0x5E)|[[USER 14>#]]|R/W|0|0~255| | + | |94 (0x5E)|BGCOLOR(lightcyan):[[USER 14>#]]|R/W|0|0~255| |
- | |95 (0x5F)|[[USER 15>#]]|R/W|0|0~255| | + | |95 (0x5F)|BGCOLOR(lightcyan):[[USER 15>#]]|R/W|0|0~255| |
*****Model Number [#n4d55da8] | *****Model Number [#n4d55da8] | ||
Line 222: | Line 222: | ||
*****Baudrate [#y9835609] | *****Baudrate [#y9835609] | ||
- | デバイスの通信速度です。以下の公式で計算します。~ | + | デバイスの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)~ |
- | デフォルトは1M[bps](value=1)です。~ | + | デフォルトは1(1M[bps])です。~ |
主なBaudrate~ | 主なBaudrate~ | ||
Line 240: | Line 240: | ||
*****WriteNVM [#iee6d02c] | *****WriteNVM [#iee6d02c] | ||
- | 1を書き込むとコントロールテーブルに設定された値のうち、不揮発領域の値のみを不揮発メモリへ記憶します。~ | + | 1を書き込むとコントロールテーブルのNVMとあるアイテムの値を保存します。パワーサイクル毎に保存された値がアイテムの初期値となります。 |
- | コントロールテーブルの不揮発領域はRAM領域と同様に扱う事ができますが、パワーサイクル毎に不揮発メモリに保存された値で初期化されます。 | + | |
*****LED [#db0623c9] | *****LED [#db0623c9] |
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