- Axis Communication Dynamixel AX-12 User's Manual

DYNAMIXEL

AX-12

Control Table The Control Table contains information on the status and operation of the Dynamixel

actuator. The Dynamixel actuator is operated by writing values to its control table and its

status is checked by reading values off its control table.

RAM and EEPROM The data values for the RAM area will be set to the default initial values whenever the

power is turned on. However, the data values for the EEPROM area are non-volatile

and will still remain even after the power is turned off.

Initial Value The Initial Value column on the right side of the control table shows the Factory Default

Values for the case of EEPROM area data, and shows the initial value when the power

is turned on for the case of RAM area data.

The following explains the meaning of data stored in each of the addresses in the

control table.

Address 0x00,0x01

Model Number. For AX-12, this value is 0X000C (12).

Address 0x02

Firmware Version.

Address 0x03

ID. The unique ID number assigned to each Dynamixel actuators for identifying them.

Different IDs are required for each Dynamixel actuators that are on the same network.

Address 0x04

Baud Rate. Determines the communication speed. The computation is done by the

following formula.

Speed (BPS) = 2000000 / (Address4 + 1)

Data Value for each Major Baud Rate

Adress4 Hex Set BPS Goal BPS Error

1 0X01 1000000.0 1000000.0 0.000%

3 0X03 500000.0 500000.0 0.000%

4 0X04 400000.0 400000.0 0.000%

7 0X07 250000.0 250000.0 0.000%

9 0X09 200000.0 200000.0 0.000%

16 0X10 117647.1 115200.0 -2.124%

34 0X22 57142.9 57600.0 0.794%

103 0X67 19230.8 19200.0 -0.160%

207 0XCF 9615.4 9600.0 -0.160%

Note A maximum Baud Rate error of 3% is within the tolerance of UART communication.

Caution The initial value of Baudrate is set to 1(1000000bps)