Robotis Dynamixel Pro Quick Start Manual page 116

Quick Start for Dynamixel Pro v1.00b
- According to Dynamixel PRO's Control Table Goal Velocity is located on address
600 with a size of 4 bytes (a dword).
- Keep in mind that Operating Mode must be set to 1 (Wheel Mode). Operating
Mode is in the EEPROM area so Torque Enable must be turned off before making
any changes.
- Before testing Goal Velocity make sure to check Velocity Limit (address 32, 2
bytes) as Goal Velocity cannot exceed velocity Limit. Remember: Torque Limit is
also in the EEPROM area so Torque Enable must be turned off to make any
changes
- Try rotating Dynamixel PRO counterclockwise (CCW direction) by setting values
above 0, i.e. wrd 1 600 200. Try the same in the clockwise direction (CW
direction) by setting values below 0, i.e. wrd 1 600 -200.
- To stop Dynamixel PRO simply enter a velocity value of 0 (enter the command
wrd 1 600 0) or turn Toruq Enable off ( enter the command wrb 1 562 0).
ix. Changing ID
- According to Dynamixel PRO's Control Table ID is located on address 7 with a
size of 1 byte. ID is located under the EEPROM area so Torque Enable (#562)
must be turned off before making any changes.
- The following procedure is the simple way to change ID of Dynamixel PRO
(assuming default ID of 1: [1] ensure Torque Enable is off (value = 0) by the
command rdb 1 562, [2] enter the command to change ID number to, i.e. #39),
with the command wrb 1 7 39, [3] to verify scan for Dynamixel with scan.
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