69 lines
2.1 KiB
JSON
69 lines
2.1 KiB
JSON
{
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"Protocol_2": {
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"Control_Table": {
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"Model_Number": [0, 2],
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"Model_Information": [2, 4],
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"Firmware_Version": [6, 1],
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"ID": [7, 1],
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"Baud_Rate": [8, 1],
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"Return_Delay_Time": [9, 1],
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"Drive_Mode": [10, 1],
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"Operating_Mode": [11, 1],
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"Secondary_Shadow_ID": [12, 1],
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"Protocol_Type": [13, 1],
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"Homing_Offset": [20, 4],
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"Moving_Threshold": [24, 4],
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"Temperature_Limit": [31, 1],
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"Max_Voltage_Limit": [32, 2],
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"Min_Voltage_Limit": [34, 2],
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"PWM_Limit": [36, 2],
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"Current_Limit": [38, 2],
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"Velocity_Limit": [44, 4],
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"Max_Position": [48, 4],
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"Min_Position": [52, 4],
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"External_Port_Mode_1": [56, 1],
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"External_Port_Mode_2": [57, 1],
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"External_Port_Mode_3": [58, 1],
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"Startup_Configuration": [60, 1],
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"Shutdown": [63, 1],
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"Torque_Enable": [64, 1],
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"LED": [65, 1],
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"Status_Return_Level": [68, 1],
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"Registered_Instruction": [69, 1],
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"Hardware_Error_Status": [70, 1],
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"Velocity_I_Gain": [76, 2],
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"Velocity_P_Gain": [78, 2],
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"Position_D_Gain": [80, 2],
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"Position_I_Gain": [82, 2],
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"Position_P_Gain": [84, 2],
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"Feedforward_2nd_Gain": [88, 2],
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"Feedforward_1st_Gain": [90, 2],
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"Bus_Watchdog": [98, 1],
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"Goal_PWM": [100, 2],
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"Goal_Current": [102, 2],
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"Goal_Velocity": [104, 4],
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"Profile_Acceleration": [108, 4],
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"Profile_Velocity": [112, 4],
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"Goal_Position": [116, 4],
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"Realtime_Tick": [120, 2],
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"Moving": [122, 1],
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"Moving_Status": [123, 1],
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"Present_PWM": [124, 2],
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"Present_Current": [126, 2],
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"Present_Velocity": [128, 4],
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"Present_Position": [132, 4],
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"Velocity_Trajectory": [136, 4],
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"Position_Trajectory": [140, 4],
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"Present_Input_Voltage": [144, 2],
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"Present_Temperature": [146, 1],
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"Backup_Ready": [147, 1],
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"External_Port_Data_1": [152, 2],
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"External_Port_Data_2": [154, 2],
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"External_Port_Data_3": [156, 2],
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"Indirect_Address_1": [168, 2],
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"Indirect_Address_2": [170, 2],
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"Indirect_Address_3": [172, 2]
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}
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}
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}
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