Robotis DX-116 - Manual (Page 18)

17
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL DX-116
Address 0x20,0x21 Moving Speed. The angular speed to move to the Goal Position. If set to the
maximum values of 0x3ff, it moves at 70RPM.
Address 0x24,0x25 Present Position. Current position of the Dynamixel.
Address 0x26,0x27 Present Speed. Current Speed of the Dynamixel.
Address 0x28,0x29 Present Load. Load size on the Dynamixel in action. Bit 10 is the direction of the
load.
Load Direction = 0 : CCW Load, Load Direction = 1: CW Load
Address 0x2A Present Voltage. The voltage applied to the Dynamixel. The value is 10 times the
actual voltage. For example, 10V is read as 100(0x64).
Address 0x2B Present Temperature. Current internal Dynamixel temperature (Degrees Celsius).
Address 0x2C Registered Instruction. Set to 1 when a REG_WRITE instruction is made. After an
Action instruction and an action it is reset to 0.
Address 0x2E Moving. Set to 1 when the Dynamixel moves by its own power.
BIT 15~11 10 9 8 7 6 5 4 3 2 1 0
Value 0 Load Direction Load Value
0°
(Goal Position = 0)
300°
(Goal Position = 0x3ff)
150°
(Goal Position = 0x1ff)
330~360°
Invalid Angle