Robotis Dynamixel AX-12 User Manual page 26

DYNAMIXEL
Instruction Packet
Communication
Status Packet Result
Example 10
Instruction Packet
Communication
Status Packet Result
Example 11
Instruction Packet
Communication
Status Packet Result
Example 12
Instruction Packet
Communication
Status Packet Result
AX-12
Instruction = WRITE_DATA, Address = 0x05, DATA = 0x02
->[Dynamixel]:FF FF 00 04 03 05 02 F1 (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
NO ERROR
It is recommended to set the Return Delay Time to the minimum value allowed by the
Main Controller.
Limiting the operating angle range to 0°~150° for a Dynamixel actuator with an ID
of 0
Since the CCW Angle Limit of 0x3ff corresponds to 300°, the angle 150° is represented
by the value 0x1ff
Instruction = WRITE_DATA, Address = 0x08, DATA = 0xff, 0x01
->[Dynamixel]:FF FF 00 05 03 08 FF 01 EF (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
NO ERROR
Resetting the upper limit for the operating temperature to 80°C for a Dynamixel
actuator with an ID of 0
Instruction = WRITE_DATA, Address = 0x0B, DATA = 0x50
->[Dynamixel]:FF FF 00 04 03 0B 50 9D (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
NO ERROR
Setting the operating voltage to 10V ~ 17V for a Dynamixel actuator with an ID of 0
10V is represented by 100 (0x64), and 17V by 170 (0xAA).
Instruction = WRITE_DATA, Address = 0x0C, DATA = 0x64, 0xAA
->[Dynamixel]:FF FF 00 05 03 0C 64 AA DD (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
NO ERROR
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