The control table is stored inside of the on-board motion controller and consists of data regarding the current status and operation of the eye drive. It complies with Dynamixel protocol but does not fully implement its capabilities. Compare the table below with the full description of Dynamixel registers (ex. MX-28/64/106). The user can control the robot's eyes by changing data inside the Control Table via Instruction Packets.

EEPROM and RAM

Data in RAM area is reset to the initial value whenever the power is turned on while data in EEPROM area is kept once the value is set even if the power is turned off.

Address

Represents the location of data. To read from or write data to the Control Table, the user should assign the correct address in the Instruction Packet.

Access

Dynamixel has two kinds of data: Read-only data, which is mainly used for sensing, and Read-and-Write data, which is used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the default settings. In case of data in the RAM Area, the initial values on the right side of the above Control Tables are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet at the same time.

 

Area

Address (Hexadecimal)

Name

Description

Access

Initial Value

(Hexadecimal)

E

E

P

R

O

M

0 (0X00)

Model Number(L)

Lowest byte of model number

R

eyelid/brow

eye trans.

1 (0X01)

Model Number(H)

Highest byte of model number

R

2 (0X02)

Version of Firmware

Information on the version of firmware

R

-

3 (0X03)

ID

ID of the drive

RW

106-111

4 (0X04)

Baud Rate

Baud Rate of drive (only 1,3,4,7,9,16,34,103,207 values are allowed)

RW

34 (0X22)

5 (0X05)

Return Delay Time

Return Delay Time

RW

250 (0XFA)

6 (0X06)

CW Angle Limit(L)

Lowest byte of clockwise Angle Limit

RW

eyelid/brow

eye trans.

7 (0X07)

CW Angle Limit(H)

Highest byte of clockwise Angle Limit

RW

8 (0X08)

CCW Angle Limit(L)

Lowest byte of counterclockwise Angle Limit

RW

eyelid/brow
150
eye trans.
1023

9 (0X09)

CCW Angle Limit(H)

Highest byte of counterclockwise Angle Limit

RW

11 (0X0B)

Overload Timeout

Allowable overload time (1 - 100ms)

 RW

5 (0x05)

12 (0X0C)

Control Timeout

Power saver function. If >0 it means that when there is no movement applied, torque will be disabled after this time (1 - 100ms)

RW

10 (0x0A)

14 (0X0E)

Overload Threshold(L)

Lowest byte of overload threshold

RW

eyelid/brow
400
eye trans.
255  

15 (0X0F)

Overload Threshold(H)

Highest byte of overload threshold

RW

16 (0X10)

Status Return Level

Status Return Level

RW

1 (0X01)

17 (0X11)

Alarm LED

LED for Alarm

RW

32 (0X20)

18 (0X12)

Alarm Shutdown

Shutdown for Alarm

RW

32 (0X20)

20 (0X14)

Position Offset(L)

Lowest byte of position offset (zeroing)

RW

 eyelid/brow
80
eye trans.
0

21 (0X12)

Position Offset(H)

Highest byte of position offset (zeroing)

RW

R

A

M

24 (0X18)

Torque Enable

Torque On/Off

RW

0 (0X00)

25 (0X19)

LED

LED On/Off

RW

0 (0X00)

26 (0X1A)

D Gain

Derivative Gain (available only with eye trans.)

RW

40 (0x28)

27 (0X1B)

I Gain

Integral Gain (available only with eye trans.)

RW

0 (0X00)

28 (0X1C)

P Gain

Proportional Gain (available only with eye trans.)

RW

20 (0x14)

30 (0X1E)

Goal Position(L)

Lowest byte of Goal Position

RW

-

31 (0X1F)

Goal Position(H)

Highest byte of Goal Position

RW

-

32 (0X20)

Moving Speed(L)

Lowest byte of Moving Speed (Moving Velocity)

RW

-

33 (0X21)

Moving Speed(H)

Highest byte of Moving Speed (Moving Velocity)

RW

-

36 (0X24)

Present Position(L)

Lowest byte of Current Position (Present Velocity)

R

-

37 (0X25)

Present Position(H)

Highest byte of Current Position (Present Velocity)

R

-

38 (0X26)

Present Speed(L)

Lowest byte of Current Speed (available only with eye trans.)

R

-

39 (0X27)

Present Speed(H)

Highest byte of Current Speed (available only with eye trans.)

R

-

40 (0X28)

Present Load(L)

Lowest byte of Current Load

R

-

41 (0X29)

Present Load(H)

Highest byte of Current Load

R

-

42 (0X2A)

Present Control Time

Present control time

R

-

43 (0X2B)

Present Overload Time

Present overload time

R

-

46 (0X2E)

Moving

Informs if the drive is currently moving

R

0 (0X00)

48 (0X30)

Internal Position(L)

Lowest byte of internal trajectory generator position

R

-

49 (0X31)

Internal Position(H)

Highest byte of internal trajectory generator position

R

-

 

 

 

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.8.0, 27.04.2016

FLASH Documentation