Robotis Dynamixel DX-117 - Manual (Page 14)

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DYNAMIXEL DX-Series
Address 0x05 Return Delay Time. The time taken after sending the Instruction Packet, to receive the
requested Status Packet. The delay time is given by 2uSec *Address5 value.
Address 0x06,0x07,0x08,0x09
Operating Angle Limit. Set the operating angle to restrict the Dynamixel’s angular
range. The Goal Position needs to be within the range of:-
CW Angle Limit <= Goal Position <= CCW Angle Limit
An Angle Limit Error will occur if this relationship is not satisfied.
Address 0x0B the Highest Limit Temperature. The upper limit of the Dynamixel’s operative
temperature. If the Dynamixel’s internal temperature is higher than this value, an Over
Heating Error Bit (Bit 2 of the Status Packet) will be set. An alarm will be set in Address
17,18. The values are in Degrees Celsius.
Address 0x0C,0x0D the Lowest (Highest) Limit Voltage. Setting the operative upper and lower limits of the
Dynamixel’s voltages.
If the present voltage (Address42) is out of the specified range, a Voltage Range Error
bit will be set in the Status Packet and an alarm executed will be set in Address’s 17,18.
The values are 10 times the actual voltages. For example, if the Address 12 value is 80,
then the lower voltage limit is set to 8V.
Address 0x0E,0x0F, 0x22,0x23
Max Torque . The max torque output for the Dynamixel. When it is set to ‘0’, the
Dynamixel enters a Torque Free Run condition. The Max Torque (Torque Limit) is
assigned to EEPROM (Address 0X0E,0x0F) and RAM (Address 0x22,0x23) and a power
on condition will copy EEPROM values to RAM. The torque of a Dynamixel is limited by
(Address0x22,0x23) of RAM.
Address 0X10 Status Return Level. To determine whether the Dynamixel will return the Status Packet
after the transmission of an Instruction Packet.
Address16 Return of Status Packet
0 Do net respond to any instruction
1 Respond only to READ_DATA instruction
2 Respond to all instructions