Robotis DX-116 - Manual (Page 25)

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English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL DX-116
The best approach is to set the Return Delay Time to the minimum value the
Main Controller will allow.
Example 9 Limit the the operative angles of a Dynamixel with ID=0 to 0~150°.
If CCW Angle Limit is 0x3ff, it is 300°, therefore the values for 150°is 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 10 Reset the upper limit temperature of the Dynamixel with ID=1 to 80°.
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 11 Set the operative voltage of a Dynamixel with ID=0 to 10V ~ 17V.
10V is expressed as 100(0x64) and 17V as 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
Example 12 Make the Dynamixel with ID=0 perform only 50% of the maximum torque.
Set the max torque values within the EEPROM area to 50% (0x1ff) of the
maximum value (0x3ff)