Robotis Dynamixel X Series, Manual

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Address
Size
(Byte)
Data Name Access Default
Value
Range Unit
251 1 Indirect Data 28 RW 0 0 ~ 255 -
578 2 Indirect Address 29 RW 634 64 ~ 661 -
580 2 Indirect Address 30 RW 635 64 ~ 661 -
582 2 Indirect Address 31 RW 636 64 ~ 661 -
… … … … … - -
628 2 Indirect Address 54 RW 659 64 ~ 661 -
630 2 Indirect Address 55 RW 660 64 ~ 661 -
632 2 Indirect Address 56 RW 661 64 ~ 661 -
634 1 Indirect Data 29 RW 0 0 ~ 255 -
635 1 Indirect Data 30 RW 0 0 ~ 255 -
636 1 Indirect Data 31 RW 0 0 ~ 255 -
… … … … … - -
659 1 Indirect Data 54 RW 0 0 ~ 255 -
660 1 Indirect Data 55 RW 0 0 ~ 255 -
661 1 Indirect Data 56 RW 0 0 ~ 255 -
CAUTION : Protocol 1.0 does not support addresses greater than 256. Therefore, Indirect Address 29 ~
56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.
2. 4. Control Table Description
CAUTION
: Data in the EEPROM Area can only be written when the value of Torque Enable(64) is
cleared to ‘0’.
2. 4. 1. Model Number(0)
This address stores model number of DYNAMIXEL.
2. 4. 2. Firmware Version(6)
This address stores firmware version of DYNAMIXEL.
2. 4. 3. ID(7)
The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction
Packet. 0~252 (0xFC) values can be used as an ID, and 254(0xFE) is occupied as a broadcast
ID. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all connected DYNAMIXEL
simultaneously.