Finchiedev/xl320.csv

## xl320.csv

          
            Address
             Size(Byte)
             Data Name
             Description
             Access
             InitialValue
             Min
             Max

            
              0
               2
               Model Number
               Model Number
               R
               350
               -
               -

            
              2
               1
               Firmware Version
               Firmware Version
               R
               -
               -
               -

            
              3
               1
               ID
               DYNAMIXEL ID
               RW
               1
               0
               252

            
              4
               1
               Baud Rate
               Communication Speed
               RW
               3
               0
               3

            
              5
               1
               Return Delay Time
               Response Delay Time
               RW
               250
               0
               254

            
              6
               2
               CW Angle Limit
               Clockwise Angle Limit
               RW
               0
               0
               1023

            
              8
               2
               CCW Angle Limit
               Counter-Clockwise Angle Limit
               RW
               1023
               0
               1023

            
              11
               1
               Control Mode
               Control Mode
               RW
               2
               1
               2

            
              12
               1
               Temperature Limit
               Maximum Internal Temperature Limit
               RW
               65
               0
               150

            
              13
               1
               Min Voltage Limit
               Minimum Input Voltage Limit
               RW
               60
               50
               250

            
              14
               1
               Max Voltage Limit
               Maximum Input Voltage Limit
               RW
               90
               50
               250

            
              15
               2
               Max Torque
               Maximun Torque
               RW
               1023
               0
               1023

            
              17
               1
               Status Return Level
               Select Types of Status Return
               RW
               2
               0
               2

            
              18
               1
               Shutdown
               Shutdown Error Information
               RW
               3
               0
               7

            
              24
               1
               Torque Enable
               Motor Torque On/Off
               RW
               0
               0
               1

            
              25
               1
               LED
               Status LED On/Off
               RW
               0
               0
               7

            
              27
               1
               D Gain
               Derivative Gain
               RW
               0
               0
               254

            
              28
               1
               I Gain
               Integral Gain
               RW
               0
               0
               254

            
              29
               1
               P Gain
               Proportional Gain
               RW
               32
               0
               254

            
              30
               2
               Goal Position
               Desired Position
               RW
               -
               0
               1023

            
              32
               2
               Moving Speed
               Moving Speed(Moving Velocity)
               RW
               -
               0
               2047

            
              35
               2
               Torque Limit
               Torque Limit(Goal Torque)
               RW
               -
               0
               1023

            
              37
               2
               Present Position
               Present Position
               R
               -
               -
               -

            
              39
               2
               Present Speed
               Present Speed
               R
               -
               -
               -

            
              41
               2
               Present Load
               Present Load
               R
               -
               -
               -

            
              45
               1
               Present Voltage
               Present Voltage
               R
               -
               -
               -

            
              46
               1
               Present Temperature
               Present Temperature
               R
               -
               -
               -

            
              47
               1
               Registered
               If Instruction is registered
               R
               0
               -
               -

            
              49
               1
               Moving
               Movement Status
               R
               0
               -
               -

            
              50
               1
               Hardware Error Status
               Hardware Error Status
               R
               0
               -
               -

            
              51
               2
               Punch
               Minimum Current Threshold
               RW
               32
               0
               1023
Address	Size(Byte)	Data Name	Description	Access	InitialValue	Min	Max
0	2	Model Number	Model Number	R	350	-	-
2	1	Firmware Version	Firmware Version	R	-	-	-
3	1	ID	DYNAMIXEL ID	RW	1	0	252
4	1	Baud Rate	Communication Speed	RW	3	0	3
5	1	Return Delay Time	Response Delay Time	RW	250	0	254
6	2	CW Angle Limit	Clockwise Angle Limit	RW	0	0	1023
8	2	CCW Angle Limit	Counter-Clockwise Angle Limit	RW	1023	0	1023
11	1	Control Mode	Control Mode	RW	2	1	2
12	1	Temperature Limit	Maximum Internal Temperature Limit	RW	65	0	150
13	1	Min Voltage Limit	Minimum Input Voltage Limit	RW	60	50	250
14	1	Max Voltage Limit	Maximum Input Voltage Limit	RW	90	50	250
15	2	Max Torque	Maximun Torque	RW	1023	0	1023
17	1	Status Return Level	Select Types of Status Return	RW	2	0	2
18	1	Shutdown	Shutdown Error Information	RW	3	0	7
24	1	Torque Enable	Motor Torque On/Off	RW	0	0	1
25	1	LED	Status LED On/Off	RW	0	0	7
27	1	D Gain	Derivative Gain	RW	0	0	254
28	1	I Gain	Integral Gain	RW	0	0	254
29	1	P Gain	Proportional Gain	RW	32	0	254
30	2	Goal Position	Desired Position	RW	-	0	1023
32	2	Moving Speed	Moving Speed(Moving Velocity)	RW	-	0	2047
35	2	Torque Limit	Torque Limit(Goal Torque)	RW	-	0	1023
37	2	Present Position	Present Position	R	-	-	-
39	2	Present Speed	Present Speed	R	-	-	-
41	2	Present Load	Present Load	R	-	-	-
45	1	Present Voltage	Present Voltage	R	-	-	-
46	1	Present Temperature	Present Temperature	R	-	-	-
47	1	Registered	If Instruction is registered	R	0	-	-
49	1	Moving	Movement Status	R	0	-	-
50	1	Hardware Error Status	Hardware Error Status	R	0	-	-
51	2	Punch	Minimum Current Threshold	RW	32	0	1023