Robotis Dynamixel Pro Quick Start Manual page 113

Quick Start for Dynamixel Pro v1.00b
- By default this utility sets USB-to-Dynamixel baud rate to 1 (57600 bps). Changes
in baud rate for the USB-to-Dynamixel dongle and Dynamixel PRO will be
expleained further in this guide.
iii. Enabling Torque
- By default Torque Enable (address #562) is disabled. According to Dynamixel
PRO's control table the size of address 562 is of 1 byte. This means that the
propercommdn to obtain a readout for address 562 should be rdb 1 562
- The read value should output 0 (off), and indeed, "monitor" confirms Torque
Enable being off.
- To turn Torque Enable on enter the command wrb 1 562 1. (Don't forget to be
able to change address values from the EEPROM area ensure that address 562 is
set to off).
Dynamixel PRO is now ready to operate
iv. Goal Position
- According to Dynamixel PRO's Control Table Goal Position is located on address
596 with a size of 4 bytes (a doble-word or "dword").
- To set a Goal Position to the 9-o-clock position the command should be wrd 1
596 125500 (for 54-series) or wrd 596 75937 (for 42-series)
- Dynamixel rotates 90 degree.
v. Present Position
- According to Dynamixel PRO's Control Table Present Position is located on
address 611 with a size of 4 bytes (a doble-word or "dword").
- To read Present Position the command is rdd 1 611
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