Robotis Dynamixel DX-117 - Manual (Page 17)

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DYNAMIXEL DX-Series
Address 0x20,0x21 Moving Speed. The angular speed to move to the Goal Position. If set to the maximum
values of 0x3ff, it moves at 70RPM.
Address 0x24,0x25 Present Position. Current position of the Dynamixel.
Address 0x26,0x27 Present Speed. Current Speed of the Dynamixel
Address 0x28,0x29 Present Load. Load size on the Dynamixel in action. Bit 10 is the direction of the load.
Load Direction = 0 : CCW Load, Load Direction = 1: CW Load
Address 0x2A Present Voltage. The voltage applied to the Dynamixel. The value is 10 times the actual
voltage. For example, 10V is read as 100(0x64).
Address 0x2B Present Temperature. Current internal Dynamixel temperature (Degrees Celsius).
Address 0x2C Registered Instruction. Set to 1 when a REG_WRITE instruction is made. After an
Action instruction and an action it is reset to 0.
Address 0x2E Moving. Set to 1 when the Dynamixel moves by its own power.
Address 0x2F Lock. If set to 1, only Address 0x18 ~ Address 0x23 can be written to. Other areas are
not permitted. Once locked, it can only be unlocked by powering down.
Address 0x30,0x31 Punch. Minimum current being supplied to the motor during an action. The minimum
value is 0x20 and the maximum value as 0x3ff.
BIT 15~11 10 9 8 7 6 5 4 3 2 1 0
Value 0 Load Direction Load Value