Dynamixel dx-series – Robotis Dynamixel DX-117 User Manual
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DYNAMIXEL
DX-Series
Range
Each Register has an operative range. Write instructions made outside of these ranges
will return an error. The following table summarises the data range for each register. 16
bit data registers are indicated as (L) and (H), two bytes. Each byte of a two byte register
can be written to independently.
Write
Address
Writing Item
Length
(bytes)
Min
Max
3(0X03)
ID
1
0
253(0xfd)
4(0X04)
Baud Rate
1
0
254(0xfe)
5(0X05)
Return Delay Time
1
0
254(0xfe)
6(0X06)
CW Angle Limit
2
0
1023(0x3ff)
8(0X08)
CCW Angle Limit
2
0
1023(0x3ff)
11(0X0B)
the Highest Limit Temperature
1
0
150(0x96)
12(0X0C)
the Lowest Limit Voltage
1
50(0x32)
250(0xfa)
13(0X0D)
the Highest Limit Voltage
1
50(0x32)
250(0xfa)
14(0X0E)
Max Torque
2
0
1023(0x3ff)
16(0X10)
Status Return Level
1
0
2
17(0X11)
Alarm LED
1
0
127(0x7f)
18(0X12)
Alarm Shutdown
1
0
127(0x7f)
19(0X13)
(Reserved)
1
0
1
24(0X18)
Torque Enable
1
0
1
25(0X19)
LED
1
0
1
26(0X1A)
CW Compliance Margin
1
0
254(0xfe)
27(0X1B)
CCW Compliance Margin
1
0
254(0xfe)
28(0X1C)
CW Compliance Slope
1
1
254(0xfe)
29(0X1D)
CCW Compliance Slope
1
1
254(0xfe)
30(0X1E)
Goal Position
2
0
1023(0x3ff)
32(0X20)
Moving Speed
2
0
1023(0x3ff)
34(0X22)
Torque Limit
2
0
1023(0x3ff)
44(0X2C)
Registered Instruction
1
0
1
47(0X2F)
Lock
1
1
1
48(0X30)
Punch
2
0
1023(0x3ff)
[Control Table Data Range and Length for Writing]