Dynamixel dx-116 – Robotis DX-116 User Manual
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English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL
DX-116
Address 0X11
Alarm LED. When an Error occurs, if the corresponding Bit is set to 1, then the
LED blinks.
This function operates as the logical “OR”ing of all set bits. For example,
when the register is set to 0X05, the LED will blink when a Voltage Error
occurs or when an Overheating Error occurs. Upon returning to a normal
condition from an error state, the LED stops blinking after 2 seconds.
Address 0X12
Alarm Shutdown. When an Error occurs, if the corresponding Bit is set to a 1,
then the Dynamixel will shut down (Torque off).
This function operates as the logical “OR”ing of all set bits. However, unlike
the Alarm LED, after returning to a normal condition, it maintains a torque off
status. To remove this restriction, Torque Enable (Address0X18) is required to
be set to 1.
Address 0x14~0x17 Calibration. Data used for compensating for the differences between Robotis
products. Users cannot change this area.
Bit
Func tion
Bit 7
0
Bit 6
If s e t to 1 , LED blinks w he n Ins tr uc tion Er r or oc c ur s
Bit 5
If s e t to 1 , LED blinks w he n Ove r loa d Er r or oc c ur s
Bit 4
If s e t to 1 , LED blinks w he n Che c ks um Er r or oc c ur s
Bit 3
If s e t to 1 , LED blinks w he n Ra nge Er r or oc c ur s
Bit 2
If s e t to 1 , LED blinks w he n Ove r he a ting Er r or oc c ur s
Bit 1
If s e t to 1 , LED blinks w he n Angle Limit Er r or oc c ur s
Bit 0
If s e t to 1 , LED blinks w he n Input Volta ge Er r or oc c ur s
Bit
Func tion
Bit 7
0
Bit 6
If s e t to 1 , tor que off w he n Ins tr uc tion Er r or oc c ur s
Bit 5
If s e t to 1 , tor que off w he n Ove r loa d Er r or oc c ur s
Bit 4
If s e t to 1 , tor que off w he n Che c ks um Er r or oc c ur s
Bit 3
If s e t to 1 , tor que off w he n Ra nge Er r or oc c ur s
Bit 2
If s e t to 1 , tor que off w he n Ove r he a ting Er r or oc c ur s
Bit 1
If s e t to 1 , tor que off w he n Angle Limit Er r or oc c ur s
Bit 0
If s e t to 1 , tor que off w he n Input Volta ge Er r or oc c ur s