Robotis Dynamixel RX-64 - Manual (Page 30)

29
DYNAMIXEL RX-64
Example 20 Lock all addresses except for Address 0x18 ~ Address0x23 for a Dynamixel
actuator with an ID of 0
Set Address 0x2F (Lock) to 1.
Instruction Packet Instruction = WRITE_DATA, Address = 0x2F, DATA = 0x01
Communication
->[Dynamixel]:FF FF 00 04 03 2F 01 C8 (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Once locked, the only way to unlock it is to remove the power.
If an attempt is made to access any locked data, an error is returned.
->[Dynamixel]:FF FF 00 05 03 30 40 00 87 (LEN:009)
<-[Dynamixel]:FF FF 00 02 08 F5 (LEN:006)
Example 21 Set the minimum power (Punch) to 0x40 for a Dynamixel actuator with an ID of 0
Instruction Packet Instruction = WRITE_DATA, Address = 0x30, DATA = 0x40, 0x00
Communication ->[Dynamixel]:FF FF 00 05 03 30 40 00 87 (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Range Error