Robotis Dynamixel Pro Quick Start Manual page 3

Quick Start for Dynamixel Pro v1.00b
Modifying Dynamixel PRO's ID using C programming language...................................................................... 47
iii.
Modifying the baud rate of Dynamixel PRO. ........................................................................................................... 49
iv.
LED control of Dynamixel PRO .................................................................................................................................. 53
v.
Modifying the P gain value of Dynamixel PRO ....................................................................................................... 56
vi.
Operating Dynamixel PRO in various speeds ........................................................................................................... 60
vii.
viii. Internal temperature feedback of Dynamixel PRO .................................................................................................. 64
Changing velocity of Dynamixel PRO in Wheel Mode ......................................................................................... 69
x.
Checking the current position and current velocity of Dynamixel PRO ............................................................ 72
xi.
C programming language funtions. ......................................................................................................................76
1.2.3
Modifying the zero value of Dynamixel PRO .......................................................................................................... 76
i.
Limiting the operating range of Dynamixel PRO .................................................................................................... 79
ii.
Extending the operating range of Dynamixel PRO. ................................................................................................ 83
iii.
1.2.4 Indirect Addressing function of Dynamixel PRO.............................................................................................87
Change the position, velocity, and acceleration using Indirect Address fucntion. ........................................... 87
i.
Reading the temperature and the current position using Indirect Address ......................................................... 93
ii.
1.2.5 Using Multiple Dynamixel PROs.........................................................................................................................97
Controlling the LEDs of 3 Dynamixel PROs ............................................................................................................ 97
i.
Controlling the Goal Position of 3 Dynamixel PRO .............................................................................................100
ii.
Reading the the Current Position of 3 Dynamixel PROs .....................................................................................103
iii.
Read temperature of the first, position of the second, and present current of the third Dynamixel PRO 106
iv.
1.3 Linux ........................................................................................................................................................................ 109
Set-up ....................................................................................................................................................................... 109
1.3.1
Checking USB-to-Dynamixel connection in Linux ...................................................................................... 109
i.
2 Reference ................................................................................................................................................................................ 129
2.1 Default values by model ...................................................................................................................................... 129
H Series ................................................................................................................................................................... 129
2.1.1
H54-200-S500-R ............................................................................................................................................................129
i.
H54-100-S500-R ............................................................................................................................................................129
ii.
H42-20-S300-R ..............................................................................................................................................................129
iii.
M Series .................................................................................................................................................................. 129
2.1.2
i. M54-60-S250-R..............................................................................................................................................................129
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