Robotis Dynamixel RX-64 - Manual (Page 27)

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DYNAMIXEL RX-64
Example 13 Setting the maximum torque to 50% of its maximum possible value for a
Dynamixel actuator with an ID of 0
Set the MAX Torque value located in the ROM area to 0x1ff which is 50% 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
To verify the effect of the adjusted Max Torque value, the power needs to be turned off
and then on.
Example 14 Set the Dynamixel actuator with an ID of 0 to never return 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 is not returned starting with the following instruction.
Example 15 Set the Alarm to blink the LED and Shutdown (Torque off) the actuator when the
operating temperature goes over the set limit
Since the Overheating Error is Bit 2, 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 16 Turn on the LED and Enable Torque for a Dynamixel actuator with an ID of 0
Instruction Packet Instruction = WRITE_DATA, Address = 0x18, DATA = 0x01, 0x01