Robotis Dynamixel X Series, Manual

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This value decides how to return Status Packet when DYNAMIXEL receives an Instruction
Packet.
Value Responding Instructions Description
0 PING Instruction Status Packet will not be returned for all Instructions
1
PING Instruction
READ Instruction
Status Packet will be returned only for READ Instruction
2 All Instructions Status Packet will be returned for all Instructions
NOTE : If the ID of Instruction Packet is set to Broad Cast ID(0xFE), Status Packet will not be returned
for READ and WRITE Instructions regardless of Status Return Level. For more details, please refer to
the
Status Packet
section for Protocol 1.0 or Protocol 2.0 .
2. 4. 21. Registered Instruction(69)
Value Description
0 REG_WRITE instruction is not received
1 REG_WRITE instruction is received
NOTE : If ACTION instruction is executed, the value will be changed to 0.
2. 4. 22. Hardware Error Status(70)
This value indicates hardware error status. The DYNAMIXEL can protect itself by detecting
dangerous situations that could occur during the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options can be
generated.
For instance, when ‘0x05’ (binary : 00000101) is defined in
Shutdown(63) , DYNAMIXEL can
detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100).
If those errors are detected,
Torque Enable(64) is cleared to ‘0’ and the motor output becomes
0 [%].
REBOOT is the only method to reset
Torque Enable(64) to ‘1’(Torque ON) after the shutdown.
Check Hardware Error Bit(0x80) in a error field of Status Packet or a present status via
Hardware Error Status(70) The followings are detectable situations.
Bit Item Description
Bit
7
- Unused, Always ‘0’
Bit
6
- Unused, Always ‘0’
Bit
5
Overload Error(default) Detect persistent load that exceeds maximum output
Bit
4
Electrical Shock
Error(default)
Detect electric shock on the circuit or insufficient power to operate the
motor