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H42-20-S300-R
h42-20-s300-r
dxl_pro

H42-20-S300-R

Specifications

{% include en/dxl/specifications_pro.md %}

{% include en/dxl/warning.md %}

Performance Graph

Show Enlarged Graph{: .popup}

{% include en/dxl/note_performance_graph.md %}

{% include en/dxl/control_table.md %}

Control Table of EEPROM Area

Address Size(Byte) Data Name Access Initial
Value		 Range Unit
0 2 Model Number R 51,200 - -
2 4 Model Information R - - -
6 1 Firmware Version R - - -
7 1 ID RW 1 0 ~ 252 -
8 1 Baud Rate RW 1 0 ~ 13 -
9 1 Return Delay Time RW 250 0 ~ 255 -
11 1 Operating Mode RW 3 0, 1, 3, 4 -
13 4 Homing Offset RW 0 -2,147,483,648 ~
2,147,483,647		 1 [pulse]
17 4 Moving Threshold RW 50 0 ~ 2,147,483,647 0.00329218 [rev/min]
21 1 Temperature Limit RW 80 0 ~ 100 1 [°C]
22 2 Max Voltage Limit RW 400 0 ~ 400 0.1 [V]
24 2 Min Voltage Limit RW 150 0 ~ 400 0.1 [V]
26 4 Acceleration Limit RW 255 0 ~ 2,147,483,647 58,000 [rev/min2]
30 2 Torque Limit RW 465 0 ~ 1395 4.02832 [mA]
32 4 Velocity Limit RW 10,300 0 ~ 2,147,483,647 0.00329218 [rev/min]
36 4 Max Position Limit RW 151,875 -2,147,483,648 ~
2,147,483,647		 1 [pulse]
40 4 Min Position Limit RW -151,875 -2,147,483,648 ~
2,147,483,647		 1 [pulse]
44 1 External Port Mode 1 RW 0 0 ~ 3 -
45 1 External Port Mode 2 RW 0 0 ~ 3 -
46 1 External Port Mode 3 RW 0 0 ~ 3 -
47 1 External Port Mode 4 RW 0 0 ~ 3 -
48 1 Shutdown RW 58 0 ~ 255 -
49 2 Indirect Address 1 RW 634 562 ~ 949 -
51 2 Indirect Address 2 RW 635 562 ~ 949 -
53 2 Indirect Address 3 RW 636 562 ~ 949 -
... 2 Indirect Address N RW ... 562 ~ 949 -
559 2 Indirect Address 256 RW 889 562 ~ 949 -

Control Table of RAM Area

Address Size(Byte) Data Name Access Initial
Value		 Range Unit
562 1 Torque Enable RW 0 0 ~ 1 -
563 1 LED Red RW 0 0 ~ 255 -
564 1 LED Green RW 0 0 ~ 255 -
565 1 LED Blue RW 0 0 ~ 255 -
586 2 Velocity I Gain RW 40 0 ~ 65535 -
588 2 Velocity P Gain RW 440 0 ~ 65535 -
594 2 Position P Gain RW 32 0 ~ 65535 -
596 4 Goal Position RW - Min Position Limit(40) ~
Max Position Limit(36)		 1 [pulse]
600 4 Goal Velocity RW 0 -Velocity Limit(32) ~
Velocity Limit(32)		 0.00329218 [rev/min]
604 2 Goal Torque RW 0 -Torque Limit(30) ~
Torque Limit(30)		 4.02832 [mA]
606 4 Goal Acceleration RW 0 0 ~
Acceleration Limit(26)		 58,000 [rev/min2]
610 1 Moving R - - -
611 4 Present Position R - - 1 [pulse]
615 4 Present Velocity R - - 0.00329218 [rev/min]
621 2 Present Current R - - 4.02832 [mA]
623 2 Present Input Voltage R - - 0.1 [V]
625 1 Present Temperature R - - 1 [°C]
626 2 External Port Data 1 R/RW 0 0 ~ 4,095 -
628 2 External Port Data 2 R/RW 0 0 ~ 4,095 -
630 2 External Port Data 3 R/RW 0 0 ~ 4,095 -
632 2 External Port Data 4 R/RW 0 0 ~ 4,095 -
634 1 Indirect Data 1 RW 0 0 ~ 255 -
635 1 Indirect Data 2 RW 0 0 ~ 255 -
636 1 Indirect Data 3 RW 0 0 ~ 255 -
... 1 Indirect Data N RW 0 0 ~ 255 -
889 1 Indirect Data 256 RW 0 0 ~ 255 -
890 1 Registered Instruction R 0 - -
891 1 Status Return Level RW 2 0 ~ 2 -
892 1 Hardware Error Status R 0 - -

Control Table Description

CAUTION : Data in the EEPROM Area can only be written when the value of [Torque Enable(562)] is cleared to ‘0’. {: .notice--warning}

Model Number(0)

This address stores model number of DYNAMIXEL.

Model Name Model Number
H42-20-S300-R 51200 (0xC800)

Firmware Version(6)

This address stores firmware version of DYNAMIXEL.

ID(7)

{% include en/dxl/control_table_id.md %}

Baud Rate(8)

{% include en/dxl/control_table_8_baudrate_pro.md %}

Return Delay Time(9)

{% include en/dxl/control_table_return_delay_time.md %}

Operating Mode(11)

{% include en/dxl/control_table_11_opmode_pro.md %}

Homing Offset(13)

{% include en/dxl/control_table_13_homingoffset_pro.md %}

Moving Threshold(17)

{% include en/dxl/control_table_17_movingthreshold_pro.md %}

Temperature Limit(21)

{% include en/dxl/control_table_21_templimit_pro.md %}

Min/Max Voltage Limit(22, 24)

{% include en/dxl/control_table_22_voltlimit_pro.md %}

Acceleration Limit(26)

{% include en/dxl/control_table_26_acclimit_pro.md %}

Torque Limit(30)

{% include en/dxl/control_table_30_torquelimit_pro.md %}

Velocity Limit(32)

{% include en/dxl/control_table_32_vellimit_pro.md %}

Min/Max Position Limit(36, 40)

{% include en/dxl/control_table_36_positionlimit_pro.md %}

External Port Mode, External Port Data

{% include en/dxl/control_table_44_externalport_pro.md %}

Shutdown(48)

{% include en/dxl/control_table_shutdown.md %}

Indirect Address, Indirect Data

{% include en/dxl/control_table_49_indirectdata_pro.md %}

Torque Enable(562)

{% include en/dxl/control_table_torque_enable.md %}

RGB LED(563)

{% include en/dxl/control_table_563_led_pro.md %}

Velocity PI Gain(586, 588)

{% include en/dxl/control_table_586_velocitypigain_pro.md %}

Position P Gain(594)

{% include en/dxl/control_table_594_positionpidgain_pro.md %}

Goal Position(596), Present Position(611)

{% include en/dxl/control_table_596_goalposition_pro.md %}

Goal Velocity(600)

{% include en/dxl/control_table_600_goalvelocity_pro.md %}

Goal Torque(604)

{% include en/dxl/control_table_604_goaltorque_pro.md %}

Goal Acceleration(606)

{% include en/dxl/control_table_606_goalaccel_pro.md %}

Moving(610)

{% include en/dxl/control_table_610_moving_pro.md %}

Present Velocity(615)

This value indicates present Velocity. For more details, please refer to the Goal Velocity(600).

Present Current(621)

This value indicates present Current. For more details, please refer to the Goal Torque(604).

Present Input Voltage(623)

This value indicates present voltage that is being supplied. For more details, please refer to the Min/Max Voltage Limit(24, 22).

Present Temperature(625)

This value indicates present internal Temperature. For more details, please refer to the Temperature Limit(21).

Registered Instruction(890)

{% include en/dxl/control_table_reg_instruction.md %}

Status Return Level(891)

{% include en/dxl/control_table_status_return_lv.md %}

Hardware Error Status(892)

{% include en/dxl/control_table_hardware_error_status.md %}

How to Assemble

Option Frame Assembly

  • FRP42-H110K, FRP42-H120K Set

Maintenance

Reference

NOTE
Compatibility Guide{: .blank}
[Harness Compatibility]{: .popup} {: .notice}

Certifications

Please inquire us for information regarding unlisted certifications.

FCC

{% include en/dxl/fcc_class_b.md %}

Connector Information

{% include en/dxl/molex_485_pro.md %}

Communication Circuit

{% include en/dxl/communication_circuit_pro.md %}

Drawings

Download PDF{: .blank}, DWG{: .blank}, STEP{: .blank}, IGES{: .blank}

{% include en/dxl/download_center_notice.md %}

{% include en/dxl/common_link.md %}