Robotis Dynamixel DX-117 - Manual (Page 25)

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DYNAMIXEL DX-Series
Example 13 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)
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 14 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 15 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