Control Table, Data, Address
The Control Table is a structure that consists of multiple Data fields to
store status of the DYNAMIXEL or to control the DYNAMIXEL. Users
can check current status of the DYNAMIXEL by reading a specific
Data from the Control Table with Read Instruction Packets. WRITE
Instruction Packets enable users to control the DYNAMIXEL by
changing specific Data in the Control Table. The Address is a unique
value when accessing a specific Data in the Control Table with
Instruction Packets. In order to read or write data, users must
designate a specific Address in the Instruction Packet. Please refer
to Protocol 2.0 for more details about Instruction Packets.
NOTE : Two’s complement is applied for the negative value. For more
information, please refer to Two’s complement from Wikipedia.
Area (EEPROM, RAM)
The Control Table is divided into 2 Areas. Data in the RAM Area is
reset to initial values when the power is reset(Volatile). On the other
hand, data in the EEPROM Area is maintained even when the
DYNAMIXEL is powered off(Non-Volatile). Data in the EEPROM
Area can only be written to if Torque Enable(64) is cleared to
‘0’(Off).
Size
The Size of data varies from 1 to 4 bytes depend on their usage.
Please check the size of data when updating the data with an
Instruction Packet. For data larger than 2 bytes will be saved
according to Little Endian.
Access
The Control Table has two different access properties. ‘RW’ property
stands for read and write access permission while ‘R’ stands for read
only access permission. Data with the read only property cannot be
changed by the WRITE Instruction. Read only property(‘R’) is
generally used for measuring and monitoring purpose, and read write
property(‘RW’) is used for controlling DYNAMIXEL.
Initial Value
Each data in the Control Table is restored to initial values when the
DYNAMIXEL is turned on. Default values in the EEPROM area are
initial values of the DYNAMIXEL (factory default settings). If any
values in the EEPROM area are modified by a user, modified values
will be restored as initial values when the DYNAMIXEL is turned on.
