Robotis Dynamixel Pro Quick Start Manual page 117

Quick Start for Dynamixel Pro v1.00b
This example illustrates a procedure to properly change of ID of a Dynamixel PRO from 1 to 39
- With Dynamixel PRO assigned an ID number dffrent than 1 it is now possible to
daisy-chain another Dynamixel PRO.
x. Baud rate
- As stated previously the default setting for baud rate of USB-to-Dynamixel is 1
(57600 bps). The factory default setting for Dynamixel PRO is also 1.
- According to Dynamixel PRO's Control Table ID is located on address 8 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.
- Assuming that Torque Enable is set to off let's change the baud rate of Dynamixel
PRO to 1 Mbps (value = 3). In this case since the ID has been changed from 1 to
39 the proper command should be wrb 39 8 3.
- Perform a scan with scan (do it twice, three times, etc) and notice that Monitor
will be able to scan for ID 39. The reason is because the baud rate of ID 39 and
USB-to-Dynamixel don't match.
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