CANservo/ControlRegisters

FW Ver 2.3

• Reg 0x41 bit 8 = Eanble Custom CR and Speed Parameters = 0(off), 1(on)
  • Reg 0x73 = Speed for gain Reduce (100 recommanded)
  • Reg 0x75 High Byte = Speed gain adjust P-gain (1 recommanded): 255 = 100%
  • Reg 0x75 Low Byte = Speed gain adjust I-gain (1 recommanded): 255 = 100%
  • Reg 0x71 bit 3:0 = Speed Meas. Interval (1 recommaned)
  • Reg 0x41 bit 9 = Speed Meas. High resolution = 0(low),1(high)
  • Reg 0x41 bit 10 = Hold at Speed Zero = 0(free), 1(try hold)
  • Reg 0x41 bit 11 = Use Deadband = 0(off), 1(on)
  • Reg 0x41 bit 12 = Use Low current CR mode = 0(off), 1(on)

• To activate this function, Reg 0xA0 bit 15 must be set to 1.
• NOTE: Many private system functions are also connected to Reg 0xA0 bit 15, so if it is already set to 1, it should not be changed to 0.