Robotis Dynamixel X Series, Manual

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NOTE : Please avoid using an identical ID for multiple DYNAMIXEL. You may face communication
failure or may not be able to detect DYNAMIXEL with an identical ID.
2. 4. 4. Baud Rate(8)
Baud Rate determines serial communication speed between a controller and DYNAMIXEL.
Value Baud Rate Margin of Error
7 4.5M 0.000%
6 4M 0.000%
5 3M 0.000%
4 2M 0.000%
3 1M 0.000%
2 115,200 0.000%
1(Default) 57,600 0.000%
0 9,600 0.000%
NOTE : Less than 3% of the baud rate error margin will not affect to UART communication.
NOTE : For the stable communication with higher Baudrate, configure USB Latency value to the lower.
USB Latency Setting
2. 4. 5. Return Delay Time(9)
After the DYNAMIXEL receives an Instruction Packet, it delays transmitting the Status Packet
for
Return Delay Time(9) . For instance, if the Return Delay Time(9) is set to ‘10’, the Status
Packet will be returned after 20[μsec] when the Instruction Packet is received.
Unit Value Range Description
2[μsec] 0 ~ 254 Default value ‘250’(500[μsec]), Maximum 508[μsec]
2. 4. 6. Drive Mode(10)
This address configures Drive Mode of DYNAMIXEL.
Bit Item Description
Bit 7(0x80) - Unused, always ‘0’
Bit 6(0x40) - Unused, always ‘0’
Bit 5(0x20) - Unused, always ‘0’
Bit 4(0x10) - Unused, always ‘0’
Bit 3(0x08) - Unused, always ‘0’