Functions (Sent by DYN drive) b[4:0] Data (Bytes) Remarks
Not used 0x00 ~
0x0a
*Do not read or write to these addresses
Is_MainGain 0x10 1 Returns [1:127] unsigned data
Is_SpeedGain 0x11 1 Returns [1:127] unsigned data
Is_IntGain 0x12 1 Returns [1:127] unsigned data
Is_TrqCons 0x13 1 Returns [1:127] unsigned data
Is_HighSpeed 0x14 1 Returns [1:127] unsigned data
Is_HighAccel 0x15 1 Returns [1:127] unsigned data
Is_Drive_ID 0x16 1 Returns [1:127] unsigned data
Is_PosOn_Range 0x17 1 Returns [1:127] unsigned data
Is_GearNumber 0x18 2
Is_Status 0x19 1
Is_Cong 0x1a 1
Is_AbsPos32 0x1b 1~4
Is_TrqCurrent 0x1e 1~4
7.2 Packet Denition
7.2.5 Bn-2 ~ B1 bytes
Bn-2 ~ B1 (n>2) are used for representing the data in the packet. 7bits of a byte is used for containing the data.
The first bit MSB is always 1.
Minimum packet length is 4. There is at least one data byte, for some function code that does not require data,
this data byte is meaningless, or called dummy byte which can be set to any value [0~127] and does not affect
the overall function of that packet.
n Data Range Remark
3 -64 ~ 63 Only B1 is used
4 -8,192 ~ 8,191 Only B2, B1 are used
5 -1,048,576 ~ 1,048,575 B3, B2, B1 are used
6 -134,217,728 ~ 134,217,727 B4, B3, B2, B1 are used
Functions 0x10 ~ 0x1e are sent from the DYN drive in response to a function to request data. For example,
when Read_MainGain 0x18 is sent to the DYN2 drive, Is_MainGain 0x10 is returned as the function with the
Main Gain value as the data. See section 7.5 Example 11.
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