<commit_before>---
layout: archive
lang: kr
ref: h42-20-s300-ra
read_time: true
share: true
author_profile: false
permalink: /docs/kr/dxl/pro/h42-20-s300-ra/
sidebar:
  title: H42-20-S300-R(A)
  nav: "h42-20-s300-ra"
---

![](/assets/images/dxl/pro/h42-20-s300-r_product.jpg)

> H42-20-S300-R(A)

# [주요 사양](#주요-사양)

{% include kr/dxl/pro-plus/specifications.md %}

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

## [성능 그래프](#성능-그래프)
![](/assets/images/dxl/pro/h42-20-s300-r_performance_graph_2.png)

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

{% include kr/dxl/pro-plus/control_table.md %}

## [EEPROM 영역](#eeprom-영역)

| 주소 | 크기<br>(Byte) | 명칭                                        | 접근 |  초기값  |                범위                |          단위           |
|:----:|:--------------:|:--------------------------------------------|:----:|:--------:|:----------------------------------:|:-----------------------:|
|  0   |       2        | [Model Number](#model-number)               |  R   |  51,201  |                 -                  |            -            |
|  2   |       4        | [Model Information](#model-information)     |  R   |    -     |                 -                  |            -            |
|  6   |       1        | [Firmware Version](#firmware-version)       |  R   |    -     |                 -                  |            -            |
|  7   |       1        | [ID](#id)                                   |  RW  |    1     |              0 ~ 252               |            -            |
|  8   |       1        | [Baud Rate](#baud-rate)                     |  RW  |    1     |               0 ~ 9                |            -            |
|  9   |       1        | [Return Delay Time](#return-delay-time)     |  RW  |   250    |              0 ~ 255               |        2 [μsec]         |
|  10  |       1        | [Drive Mode](#drive-mode)                   |  RW  |    0     |               0 ~ 1                |            -            |
|  11  |       1        | [Operating Mode](#operating-mode)           |  RW  |    3     |           0, 1, 3, 4, 16           |            -            |
|  12  |       1        | [Sencondary ID](#secondary-id)              |  RW  |   255    |              0 ~ 255               |            -            |
|  20  |       4        | [Homing Offset](#homing-offset)             |  RW  |    0     | -2,147,483,648 ~<br> 2,147,483,647 |        1 [pulse]        |
|  24  |       4        | [Moving Threshold](#moving-threshold)       |  RW  |    50    | -2,147,483,648 ~<br> 2,147,483,647 |     0.01 [rev/min]      |
|  31  |       1        | [Temperature Limit](#temperature-limit)     |  RW  |    80    |              0 ~ 100               |       1 [&deg;C]        |
|  32  |       2        | [Max Voltage Limit](#max-voltage-limit)     |  RW  |   350    |              0 ~ 350               |         0.1 [V]         |
|  34  |       2        | [Min Voltage Limit](#min-voltage-limit)     |  RW  |   150    |              0 ~ 350               |         0.1 [V]         |
|  36  |       2        | [PWM Limit](#pwm-limit)                     |  RW  |  2,009   |             0 ~ 2,009              |            -            |
|  38  |       2        | [Current Limit](#current-limit)             |  RW  |  4,500   |             0 ~ 4,500              |         1 [mA]          |
|  40  |       4        | [Acceleration Limit](#acceleration-limit)   |  RW  |  10,765  |           0 ~ 4,306,173            | 1 [rev/min<sup>2</sup>] |
|  44  |       4        | [Velocity Limit](#velocity-limit)           |  RW  |  2,920   |             0 ~ 2,920              |     0.01 [rev/min]      |
|  48  |       4        | [Max Position Limit](#max-position-limit)   |  RW  | 303,454  |       -303,750 ~<br> 303,750       |        1 [pulse]        |
|  52  |       4        | [Min Position Limit](#min-position-limit)   |  RW  | -303,454 |       -303,750 ~<br> 303,750       |        1 [pulse]        |
|  56  |       1        | [External Port Mode 1](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  57  |       1        | [External Port Mode 2](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  58  |       1        | [External Port Mode 3](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  59  |       1        | [External Port Mode 4](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  63  |       1        | [Shutdown](#shutdown)                       |  RW  |    52    |              0 ~ 255               |            -            |
| 168  |       2        | [Indirect Address 1](#indirect-address)     |  RW  |   634    |            512 ~ 1,023             |            -            |
| 170  |       2        | [Indirect Address 2](#indirect-address)     |  RW  |   635    |            512 ~ 1,023             |            -            |
| 172  |       2        | [Indirect Address 3](#indirect-address)     |  RW  |   636    |            512 ~ 1,023             |            -            |
| ...  |      ...       | ...                                         | ...  |   ...    |                ...                 |           ...           |
| 422  |       2        | [Indirect Address 128](#indirect-address)   |  RW  |   761    |            512 ~ 1,023             |            -         |

## [RAM 영역](#ram-영역)

| 주소 | 크기<br />(Byte) | 명칭                                              | 접근 | 초기값 |                        범위                         |          단위           |
|:----:|:----------------:|:--------------------------------------------------|:----:|:------:|:---------------------------------------------------:|:-----------------------:|
| 512  |        1         | [Torque Enable](#torque-enable)                   |  RW  |   0    |                        0 ~ 1                        |            -            |
| 513  |        1         | [LED Red](#led)                                   |  RW  |   0    |                       0 ~ 255                       |            -            |
| 514  |        1         | [LED Green](#led)                                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| 515  |        1         | [LED Blue](#led)                                  |  RW  |   0    |                       0 ~ 255                       |            -            |
| 516  |        1         | [Status Return Level](#status-return-level)       |  RW  |   2    |                        0 ~ 2                        |            -            |
| 517  |        1         | [Registered Instruction](#registered-instruction) |  R   |   0    |                          -                          |            -            |
| 518  |        1         | [Hardware Error Status](#hardware-error-status)   |  R   |   0    |                          -                          |            -            |
| 524  |        2         | [Velocity I Gain](#velocity-pi-gain)              |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 526  |        2         | [Velocity P Gain](#velocity-pi-gain)              |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 528  |        2         | [Position D Gain](#position-pid-gain)             |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 532  |        2         | [Position P Gain](#position-pid-gain)             |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 530  |        2         | [Position I Gain](#position-pid-gain)             |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 536  |        2         | [Feedforward 2nd Gain](#feedforward-2nd-gain)     |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 538  |        2         | [Feedforward 1st Gain](#feedforward-1st-gain)     |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 546  |        1         | [Bus Watchdog](#bus-watchdog)                     |  RW  |   -    |                       0 ~ 127                       |        20 [msec]        |
| 548  |        2         | [Goal PWM](#goal-pwm)                             |  RW  |   -    |         -PWM Limit(36) ~<br> PWM Limit(36)          |            -            |
| 550  |        2         | [Goal Current](#goal-current)                     |  RW  |   0    |     -Current Limit(38) ~<br> Current Limit(38)      |         1 [mA]          |
| 552  |        4         | [Goal Velocity](#goal-velocity)                   |  RW  |   0    |    -Velocity Limit(44) ~<br> Velocity Limit(44)     |     0.01 [rev/min]      |
| 556  |        4         | [Profile Acceleration](#profile-acceleration)     |  RW  |   0    |           0 ~<br> Acceleration Limit(40)            | 1 [rev/min<sup>2</sup>] |
| 560  |        4         | [Profile Velocity](#profile-velocity)             |  RW  |   0    |             0 ~<br> Velocity Limit(44)              |     0.01 [rev/min]      |
| 564  |        4         | [Goal Position](#goal-position)                   |  RW  |   -    | Min Position Limit(52) ~<br> Max Position Limit(48) |        1[pulse]         |
| 568  |        2         | [Realtime Tick](#realtime-tick)                   |  R   |   -    |                     0 ~ 32,767                      |        1 [msec]         |
| 570  |        1         | [Moving](#moving)                                 |  R   |   -    |                          -                          |            -            |
| 571  |        1         | [Moving Status](#moving-status)                   |  R   |   -    |                          -                          |            -            |
| 572  |        2         | [Present PWM](#present-pwm)                       |  R   |   -    |                          -                          |            -            |
| 574  |        2         | [Present Current](#present-current)               |  R   |   -    |                          -                          |         1 [mA]          |
| 576  |        4         | [Present Velocity](#present-velocity)             |  R   |   -    |                          -                          |     0.01 [rev/min]      |
| 580  |        4         | [Present Position](#present-position)             |  R   |   -    |                          -                          |        1 [pulse]        |
| 584  |        4         | [Velocity Trajectory](#velocity-trajectory)       |  R   |   -    |                          -                          |     0.01 [rev/min]      |
| 588  |        4         | [Position Trajectory](#position-trajectory)       |  R   |   -    |                          -                          |        1 [pulse]        |
| 592  |        2         | [Present Input Voltage](#present-input-voltage)   |  R   |   -    |                          -                          |         0.1 [V]         |
| 594  |        1         | [Present Temperature](#present-temperature)       |  R   |   -    |                          -                          |       1 [&deg;C]        |
| 602  |        2         | [External Port Data 2](#external-port-data)       | R/RW |   0    |                      0 ~ 4,095                       |            -            |
| 600  |        2         | [External Port Data 1](#external-port-data)       | R/RW |   0    |                      0 ~ 4,095                      |            -            |
| 634  |        1         | [Indirect Data 1](#indirect-data)                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| 635  |        1         | [Indirect Data 2](#indirect-data)                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| 636  |        1         | [Indirect Data 3](#indirect-data)                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| ...  |       ...        | ...                                               | ...  |  ...   |                         ...                         |           ...           |
| 761  |        1         | [Indirect Data 128](#indirect-data)               |  RW  |   0    |                       0 ~ 255                       |            -            |


## [컨트롤 테이블 설명](#컨트롤-테이블-설명)

**주의**: EEPROM Area에 존재하는 모든 Data는 Torque Enable(562)의 값이 ‘0’일 때만 변경할 수 있습니다.
{: .notice--warning}

**주의**: Dynamixel PRO(A)는 Dynmaxiel PRO의 개선된 firmware 입니다. 두 firmware의 Control table이 다르니, 사용 전에 Control table의 주소를 필히 확인해 주세요.
{: .notice}

### <a name="model-number"></a>**[Model Number(0)](#model-number0)**
장치의 모델 번호입니다.

|     모델명     |  Model Number  |
|:--------------:|:--------------:|
| H42-20-S300-R(A) | 51,201 (0xC801) |

### <a name="firmware-version"></a>**[Firmware Version(6)](#firmware-version6)**
{% include kr/dxl/pro-plus/control_table_6_firmware_version.md %}

### <a name="id"></a>**[ID(7)](#id7)**
{% include kr/dxl/pro-plus/control_table_7_id.md %}

### <a name="baud-rate"></a>**[Baud Rate(8)](#baud-rate8)**
{% include kr/dxl/pro-plus/control_table_8_baud_rate.md %}
<commit_msg>contents update<commit_after>---
layout: archive
lang: kr
ref: h42-20-s300-ra
read_time: true
share: true
author_profile: false
permalink: /docs/kr/dxl/pro/h42-20-s300-ra/
sidebar:
  title: H42-20-S300-R(A)
  nav: "h42-20-s300-ra"
---

![](/assets/images/dxl/pro/h42-20-s300-r_product.jpg)

> H42-20-S300-R(A)

# [주요 사양](#주요-사양)

{% include kr/dxl/pro-plus/specifications.md %}

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

## [성능 그래프](#성능-그래프)
![](/assets/images/dxl/pro/h42-20-s300-r_performance_graph_2.png)

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

{% include kr/dxl/pro-plus/control_table.md %}

## [EEPROM 영역](#eeprom-영역)

| 주소 | 크기<br>(Byte) | 명칭                                        | 접근 |  초기값  |                범위                |          단위           |
|:----:|:--------------:|:--------------------------------------------|:----:|:--------:|:----------------------------------:|:-----------------------:|
|  0   |       2        | [Model Number](#model-number)               |  R   |  51,201  |                 -                  |            -            |
|  2   |       4        | [Model Information](#model-information)     |  R   |    -     |                 -                  |            -            |
|  6   |       1        | [Firmware Version](#firmware-version)       |  R   |    -     |                 -                  |            -            |
|  7   |       1        | [ID](#id)                                   |  RW  |    1     |              0 ~ 252               |            -            |
|  8   |       1        | [Baud Rate](#baud-rate)                     |  RW  |    1     |               0 ~ 9                |            -            |
|  9   |       1        | [Return Delay Time](#return-delay-time)     |  RW  |   250    |              0 ~ 255               |        2 [μsec]         |
|  10  |       1        | [Drive Mode](#drive-mode)                   |  RW  |    0     |               0 ~ 1                |            -            |
|  11  |       1        | [Operating Mode](#operating-mode)           |  RW  |    3     |           0, 1, 3, 4, 16           |            -            |
|  12  |       1        | [Sencondary ID](#secondary-id)              |  RW  |   255    |              0 ~ 255               |            -            |
|  20  |       4        | [Homing Offset](#homing-offset)             |  RW  |    0     | -2,147,483,648 ~<br> 2,147,483,647 |        1 [pulse]        |
|  24  |       4        | [Moving Threshold](#moving-threshold)       |  RW  |    50    | -2,147,483,648 ~<br> 2,147,483,647 |     0.01 [rev/min]      |
|  31  |       1        | [Temperature Limit](#temperature-limit)     |  RW  |    80    |              0 ~ 100               |       1 [&deg;C]        |
|  32  |       2        | [Max Voltage Limit](#max-voltage-limit)     |  RW  |   350    |              0 ~ 350               |         0.1 [V]         |
|  34  |       2        | [Min Voltage Limit](#min-voltage-limit)     |  RW  |   150    |              0 ~ 350               |         0.1 [V]         |
|  36  |       2        | [PWM Limit](#pwm-limit)                     |  RW  |  2,009   |             0 ~ 2,009              |            -            |
|  38  |       2        | [Current Limit](#current-limit)             |  RW  |  4,500   |             0 ~ 4,500              |         1 [mA]          |
|  40  |       4        | [Acceleration Limit](#acceleration-limit)   |  RW  |  10,765  |           0 ~ 4,306,173            | 1 [rev/min<sup>2</sup>] |
|  44  |       4        | [Velocity Limit](#velocity-limit)           |  RW  |  2,920   |             0 ~ 2,920              |     0.01 [rev/min]      |
|  48  |       4        | [Max Position Limit](#max-position-limit)   |  RW  | 303,454  |       -303,750 ~<br> 303,750       |        1 [pulse]        |
|  52  |       4        | [Min Position Limit](#min-position-limit)   |  RW  | -303,454 |       -303,750 ~<br> 303,750       |        1 [pulse]        |
|  56  |       1        | [External Port Mode 1](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  57  |       1        | [External Port Mode 2](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  58  |       1        | [External Port Mode 3](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  59  |       1        | [External Port Mode 4](#external-port-mode) |  RW  |    3     |               0 ~ 3                |            -            |
|  63  |       1        | [Shutdown](#shutdown)                       |  RW  |    52    |              0 ~ 255               |            -            |
| 168  |       2        | [Indirect Address 1](#indirect-address)     |  RW  |   634    |            512 ~ 1,023             |            -            |
| 170  |       2        | [Indirect Address 2](#indirect-address)     |  RW  |   635    |            512 ~ 1,023             |            -            |
| 172  |       2        | [Indirect Address 3](#indirect-address)     |  RW  |   636    |            512 ~ 1,023             |            -            |
| ...  |      ...       | ...                                         | ...  |   ...    |                ...                 |           ...           |
| 422  |       2        | [Indirect Address 128](#indirect-address)   |  RW  |   761    |            512 ~ 1,023             |            -         |

## [RAM 영역](#ram-영역)

| 주소 | 크기<br />(Byte) | 명칭                                              | 접근 | 초기값 |                        범위                         |          단위           |
|:----:|:----------------:|:--------------------------------------------------|:----:|:------:|:---------------------------------------------------:|:-----------------------:|
| 512  |        1         | [Torque Enable](#torque-enable)                   |  RW  |   0    |                        0 ~ 1                        |            -            |
| 513  |        1         | [LED Red](#led)                                   |  RW  |   0    |                       0 ~ 255                       |            -            |
| 514  |        1         | [LED Green](#led)                                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| 515  |        1         | [LED Blue](#led)                                  |  RW  |   0    |                       0 ~ 255                       |            -            |
| 516  |        1         | [Status Return Level](#status-return-level)       |  RW  |   2    |                        0 ~ 2                        |            -            |
| 517  |        1         | [Registered Instruction](#registered-instruction) |  R   |   0    |                          -                          |            -            |
| 518  |        1         | [Hardware Error Status](#hardware-error-status)   |  R   |   0    |                          -                          |            -            |
| 524  |        2         | [Velocity I Gain](#velocity-pi-gain)              |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 526  |        2         | [Velocity P Gain](#velocity-pi-gain)              |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 528  |        2         | [Position D Gain](#position-pid-gain)             |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 532  |        2         | [Position P Gain](#position-pid-gain)             |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 530  |        2         | [Position I Gain](#position-pid-gain)             |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 536  |        2         | [Feedforward 2nd Gain](#feedforward-2nd-gain)     |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 538  |        2         | [Feedforward 1st Gain](#feedforward-1st-gain)     |  RW  |   -    |                     0 ~ 32,767                      |            -            |
| 546  |        1         | [Bus Watchdog](#bus-watchdog)                     |  RW  |   -    |                       0 ~ 127                       |        20 [msec]        |
| 548  |        2         | [Goal PWM](#goal-pwm)                             |  RW  |   -    |         -PWM Limit(36) ~<br> PWM Limit(36)          |            -            |
| 550  |        2         | [Goal Current](#goal-current)                     |  RW  |   0    |     -Current Limit(38) ~<br> Current Limit(38)      |         1 [mA]          |
| 552  |        4         | [Goal Velocity](#goal-velocity)                   |  RW  |   0    |    -Velocity Limit(44) ~<br> Velocity Limit(44)     |     0.01 [rev/min]      |
| 556  |        4         | [Profile Acceleration](#profile-acceleration)     |  RW  |   0    |           0 ~<br> Acceleration Limit(40)            | 1 [rev/min<sup>2</sup>] |
| 560  |        4         | [Profile Velocity](#profile-velocity)             |  RW  |   0    |             0 ~<br> Velocity Limit(44)              |     0.01 [rev/min]      |
| 564  |        4         | [Goal Position](#goal-position)                   |  RW  |   -    | Min Position Limit(52) ~<br> Max Position Limit(48) |        1[pulse]         |
| 568  |        2         | [Realtime Tick](#realtime-tick)                   |  R   |   -    |                     0 ~ 32,767                      |        1 [msec]         |
| 570  |        1         | [Moving](#moving)                                 |  R   |   -    |                          -                          |            -            |
| 571  |        1         | [Moving Status](#moving-status)                   |  R   |   -    |                          -                          |            -            |
| 572  |        2         | [Present PWM](#present-pwm)                       |  R   |   -    |                          -                          |            -            |
| 574  |        2         | [Present Current](#present-current)               |  R   |   -    |                          -                          |         1 [mA]          |
| 576  |        4         | [Present Velocity](#present-velocity)             |  R   |   -    |                          -                          |     0.01 [rev/min]      |
| 580  |        4         | [Present Position](#present-position)             |  R   |   -    |                          -                          |        1 [pulse]        |
| 584  |        4         | [Velocity Trajectory](#velocity-trajectory)       |  R   |   -    |                          -                          |     0.01 [rev/min]      |
| 588  |        4         | [Position Trajectory](#position-trajectory)       |  R   |   -    |                          -                          |        1 [pulse]        |
| 592  |        2         | [Present Input Voltage](#present-input-voltage)   |  R   |   -    |                          -                          |         0.1 [V]         |
| 594  |        1         | [Present Temperature](#present-temperature)       |  R   |   -    |                          -                          |       1 [&deg;C]        |
| 600  |        2         | [External Port Data 1](#external-port-data)       | R/RW |   0    |                      0 ~ 4,095                      |            -            |
| 602  |        2         | [External Port Data 2](#external-port-data)       | R/RW |   0    |                      0 ~ 4,095                      |            -            |
| 604  |        2         | [External Port Data 3](#external-port-data)       | R/RW |   0    |                      0 ~ 4,095                      |            -            |
| 606  |        2         | [External Port Data 4](#external-port-data)       | R/RW |   0    |                      0 ~ 4,095                      |            -            |
| 634  |        1         | [Indirect Data 1](#indirect-data)                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| 635  |        1         | [Indirect Data 2](#indirect-data)                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| 636  |        1         | [Indirect Data 3](#indirect-data)                 |  RW  |   0    |                       0 ~ 255                       |            -            |
| ...  |       ...        | ...                                               | ...  |  ...   |                         ...                         |           ...           |
| 761  |        1         | [Indirect Data 128](#indirect-data)               |  RW  |   0    |                       0 ~ 255                       |            -            |


## [컨트롤 테이블 설명](#컨트롤-테이블-설명)

**주의**: EEPROM Area에 존재하는 모든 Data는 Torque Enable(562)의 값이 ‘0’일 때만 변경할 수 있습니다.
{: .notice--warning}

**주의**: Dynamixel PRO(A)는 Dynmaxiel PRO의 개선된 firmware 입니다. 두 firmware의 Control table이 다르니, 사용 전에 Control table의 주소를 필히 확인해 주세요.
{: .notice}

### <a name="model-number"></a>**[Model Number(0)](#model-number0)**
장치의 모델 번호입니다.

|     모델명     |  Model Number  |
|:--------------:|:--------------:|
| H42-20-S300-R(A) | 51,201 (0xC801) |

### <a name="firmware-version"></a>**[Firmware Version(6)](#firmware-version6)**
{% include kr/dxl/pro-plus/control_table_6_firmware_version.md %}

### <a name="id"></a>**[ID(7)](#id7)**
{% include kr/dxl/pro-plus/control_table_7_id.md %}

### <a name="baud-rate"></a>**[Baud Rate(8)](#baud-rate8)**
{% include kr/dxl/pro-plus/control_table_8_baud_rate.md %}

{'fraction_non_alphanumeric': 0.148471933850581, 'fraction_numerical': 0.05544020689906386, 'mean_word_length': 0.6238244514106583, 'pattern_counts': {'":': 0, '<': 51, '<?xml version=': 0, '>': 53, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 404, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '5374846', 'n_tokens_mistral': 9268, 'n_tokens_neox': 8027, 'n_words': 1439}