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Bit 3 Range Erro When the command is given beyond the range of usage
Bit 2 Overheating Erro When the internal temperature is out of the range of
operating temperature set in the Control Table
Bit 1 Angle Limit Erro When Goal Position is written with the value that is not
between CW Angle Limit and CCW Angle Limit
Bit 0 Input Voltage Error When the applied voltage is out of the range of operating
voltage set in the Control Table
2.4 Instruction type
This command gives an instruction to SR518 and has the following types.：
Instruction/name Function value No.of parameters
PING No execution. It is used when controller is
ready to recevie Status Packet 0x01 0
READ DATA This command reads data from SR518 0x02 2
WRITE DATA This command writes data to SR518 0x03 2 or more
REG WRITE
it is similar to WRTE_DATA, but it remains in
the standby state without being executed until
the ACTION command arrives.
0x04 2 or more
ACTION This command initiates motions registered with
REG WRITE 0x05 0
RESET his command restores the state of SR518 to the
factory default setting. 0x06 0
SYNC WRITE This command is used to control several
SR518s simultaneously at a time 0x83 4 or more
2.4.1
Function write data in SR518 control table
Length N+3 (N is the length of write data)
Instruction 0X03
Parameter1 the first address of data write section
Parameter2 the first write data
Parameter3 the second data
ParameterN+1 the Nth data
eg1.(example) Set 1 to the ID of a random SR518
Keep the address of ID No. 3 in the control table,the write 1 in the address 3( the control table
as below),the ID of instruction packet uses boradcast ID
(0xFE)。
Instruction frame：0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6
0XFF 0XFF ID Length ERROR Parameter1 ..Parameter N Check
Sum
0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6
Broadcast ID is used to send instructions,so no return status packet
Check Sum is calculated according to the following formula.：
Check Sum = ~ (ID + Length + Instruction + Parameter1 + ... Parameter N)
