Robotis RX-28 - Manual (Page 27)

DYNAMIXEL RX-28
Instruction Packet
Instruction = WRITE_DATA, Address = 0x05, DATA = 0x02
Communication
->[Dynamixel]:FF FF 00 04 03 05 02 F1 (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
It is recommended to set the Return Delay Time to the minimum value allowed by the
Main Controller.
Example 10 Limiting the operating angle range to 0°~150° for a Dynamixel actuator with an ID
of 0
Since the CCW Angle Limit of 0x3ff corresponds to 300°, the angle 150° is represented
by the value 0x1ff
Instruction Packet
Instruction = WRITE_DATA, Address = 0x08, DATA = 0xff, 0x01
Communication
->[Dynamixel]:FF FF 00 05 03 08 FF 01 EF (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 11 Resetting the upper limit for the operating temperature to 80°C for a Dynamixel
actuator with an ID of 0
Instruction Packet Instruction = WRITE_DATA, Address = 0x0B, DATA = 0x50
Communication
->[Dynamixel]:FF FF 00 04 03 0B 50 9D (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 12 Setting the operating voltage to 10V ~ 17V for a Dynamixel actuator with an ID of 0
10V is represented by 100 (0x64), and 17V by 170 (0xAA).
Instruction Packet
Instruction = WRITE_DATA, Address = 0x0C, DATA = 0x64, 0xAA
Communication
->[Dynamixel]:FF FF 00 05 03 0C 64 AA DD (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
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