Robotis Dynamixel Pro Quick Start Manual page 16

Quick Start for Dynamixel Pro v1.00b
- Next, set Torque Enable (#562) as 1 and click 'Apply.'
※ Torque Enable value on Dynamixel PRO series MUST be 1 to be activated.
- On the Table, set Goal Velocity (#600) as 1000 and click 'Apply.'
- Visually check for Dynamixel PRO rotate slowly in counter-clockwise direction.
- If Dynamixel PRO does not rotate, check if Torque Enable is set to 1.
- Set Goal Velocity (#600) to -1000 then click on 'Apply.' Visually check for
Dynamixel PRO rotate slowly in clockwise direction.
- Set Goal Velocity as 0 and Dynamixel PRO stops moving.
- Try changing the Goal Velocity value as 3000, 10000, 15000, -3000, -10000, -
15000, 0, etc... and observe the changes in rotation.
- The relationship between Goal Velocity (#600) values and rpm is as follows:
Sign of Value
+
-
※ Notice 1
- If Torque Enable(#562) on the Table is set as 1, it means Dynamixel PRO is ready to operate. This is
called the Torque On state.
- If Torque Enable(#562) on the Table is set as 0, it means Dynamixel PRO is unable to operate. This is
called the Torque Off state.
※ Notice 2
- The Table in the middle of the Dynamixel Wizard is called the Control Table.
- Control Table includes the list of functions that is used to control a Dynamixel
Rotating
RPM (@ 20V minimum)
Direction
CCW
CW
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