Robotis Dynamixel DX-117 - Manual (Page 15)

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DYNAMIXEL DX-Series
In the case of an instruction which uses the Broadcast ID (0XFE), regardless of
the Address 0x10 value, the Status Packet will not be returned.
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 Function
Bit 7 0
Bit 6 If set to 1, LED blinks when Ins truction Error occurs
Bit 5 If set to 1, LED blinks when Overload Error occurs
Bit 4 If set to 1, LED blinks when Checksum Error occurs
Bit 3 If set to 1, LED blinks when Range Error occurs
Bit 2 If set to 1, LED blinks when Overheating Error occurs
Bit 1 If set to 1, LED blinks when Angle Limit Error occurs
Bit 0 If set to 1, LED blinks when Input Voltage Error occurs
Bit Function
Bit 7 0
Bit 6 If set to 1, torque off when Ins truction Error occurs
Bit 5 If set to 1, torque off when Overload Error occurs
Bit 4 If set to 1, torque off when Checksum Error occurs
Bit 3 If set to 1, torque off when Range Error occurs
Bit 2 If set to 1, torque off when Overheating Error occurs
Bit 1 If set to 1, torque off when Angle Limit Error occurs
Bit 0 If set to 1, torque off when Input Voltage Error occurs