The Size of data varies from 1 ~ 4 bytes depend on their usage. On the other hand, data in the EEPROM Area is maintained even when the device is powered off(Non-Volatile).ĭata in the EEPROM Area can only be written to if Torque Enable(64) is cleared to ‘0’(Torque OFF). Data in the RAM Area is reset to initial values when the power is reset(Volatile). The Control Table is divided into 2 Areas. For more information, please refer to Two’s complement from Wikipedia. NOTE : Two’s complement is applied for the negative value. Please refer to DYNAMIXEL Protocol 2.0 for more details about Instruction Packets. In order to read or write data, users must designate a specific Address in the Instruction Packet. The Address is a unique value when accessing a specific Data in the Control Table with Instruction Packets. WRITE Instruction Packets enable users to control the device by changing specific Data in the Control Table. Users can check current status of the device by reading a specific Data from the Control Table with Read Instruction Packets. The Control Table is a structure that consists of multiple Data fields to store status or to control the device.
Please refer to the control table for more details. Therefore, it supports DYNAMIXEL Protocol 1.0 and DYNAMIXEL Protocol 2.0, and various Operating Modes, Secondary ID, Drive Mode, Bus Watchdog, etc. MX(2.0) Firmware inherits DYNAMIXEL-X function.
Please check the control table address before usage.
MX(2.0) Firmware is different from MX series’ control table and address.Position, Velocity, Temperature, Load, Input Voltage, Trajectory, Realtime Tick, etcġ Applies to alumium housing products(MX-28AR/AT, MX-64AR/AT, MX-106R/T). RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity MX-28AR, MX-28AT (Protocol 2.0) Specifications ItemĬontactless absolute encoder (12Bit, 360 )ġ0.0 ~ 14.8 ( Recommended : 12.0 )
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