Robotis DX-116 - Manual (Page 26)

25
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL DX-116
Instruction Packet
Instruction = WRITE_DATA, Address = 0x0E, DATA = 0xff, 0x01
Communication
->[Dynamixel]:FF FF 00 05 03 0E FF 01 E9 (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
After a power off and on, you can check the effect of the changes in max torque.
Example 13 Stop the Dynamixel with ID=0 from returning a Status Packet.
Instruction Packet
Instruction = WRITE_DATA, Address = 0x10, DATA = 0x00
Communication
->[Dynamixel]:FF FF 00 04 03 10 00 E8 (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
The Status Packet will not be returned for the next instruction.
Example 14 If temperature values are higher than those defined operative temperatures, set
the alarm to make the Dynamixel blink and then shut down the Dynamixel
(Torque off).
Overheating Error is Bit 2, therefore set the alarm value to 0x04.
Instruction Packet
Instruction = WRITE_DATA, Address = 0x11, DATA = 0x04, 0x04
Communication
->[Dynamixel]:FF FF 00 05 03 11 04 04 DE (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 15 Turn on the LED of the Dynamixel with ID=0 and enable the torque.
Instruction Packet
Instruction = WRITE_DATA, Address = 0x18, DATA = 0x01, 0x01
Communication
->[Dynamixel]:FF FF 00 05 03 18 01 01 DD (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Physical confirmation of an enabled torque can be obtained by attempting to
rotate the motor with your hand.