Robotis Dynamixel Pro Quick Start Manual page 114

Quick Start for Dynamixel Pro v1.00b
- "Monitor" will output 2 values, unsigned and signed values. Position values
greater or equal than 0 will have the same unsigned and signed values. However,
values lesser than 0 will have 2 different values (with the unsigned value never
being a negative value). This is due to the - sign is assigned a 1 at the most-
significant-bit digit of Present Position. In this case ignore the unsigned value.
- Proof: When present position returns a position lesser than 0 the unsigned value
always start with a 4e9 value. A value with a magnitude is 4e10 is only possible
when is binary equivalent is at least 32-bit long integer. Present Position is 4
bytes in size or 32 bits.
vi. Min/Max Positions
- According to Dynamixel PRO's Control Table Max Position is located on address
36 with a size of 4 bytes (a doble-word or "dword") and Min Position is located on
address 40 with 4 bytes as well.
- Both addresses are in the EEPROM area so Torque Enable must be off. By default
the Min and Max positions are set to max (or min) to allow full range of motion.
- Set a sample min or max value (wrd 1 36 9000); then set a Goal Position with
the allowed range followed by setting a Goal Position outside range. When setting
a Goal Position outside range the result is a failure to write.
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