Robotis Dynamixel DX-117 - Manual (Page 28)

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DYNAMIXEL DX-Series
Example 20 Prevent the Dynamixel with ID=0 from changing values other than within the range
between Address 0x18 and Address 0x23.
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
If Locked, it can only be unlocked by removing power.
If trying to access other data areas whilst locked, an error will be 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 punch (output) in the Dynamixel with ID=0 to 0x40.
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