8. Turn off LED on five DYNAMIXEL. However, as there is no DYNAMIXEL with ID ‘100’,
Status Packet is not returned.
Users can select DYNAMIXEL protocol type (1.0 and 2.0).
Even if Protocol 1.0 is selected, Protocol 2.0 Control Table will be used.
It is recommended to use an identical protocol type for multiple DYNAMIXEL.
Value
Protocol Type
Compatible DYNAMIXEL
1
1.0
AX Series, DX Series, RX Series, EX Series, MX Series with Firmware below v39
2(default)
2.0
MX-28/64/106 with Firmware v39 or above, X Series, PRO Series
WARNING
: In order to change the Protocol Type to Protocol 1.0, please use
as R+ Manager 2.0 does not support Protocol 1.0.
NOTE
: The protocol 2.0 is greatly enhanced from the protocol 1.0. Accessing some of the Control
Table area might be denied if protocol 1.0 is selected. This manual complies with protocol 2.0. Please
refer to the
of e-Manual for more details about the protocol.
NOTE
: Please refer to the
Users can adjust the Home position by setting Home Offset(20). The Homing Offset value is
added to the
Present Position(132) = Actual Po Homing Offset(20)
Unit
Value Range
Description
about 0.088 [°]
-1,044,479 ~ 1,044,479
(-255 ~ 255[rev])
4,096 resolution
NOTE
: In case of the Position Control Mode(Joint Mode) that rotates less than 360 degrees, any
invalid Homing Offset(20) values will be ignored(valid range : -1,024 ~ 1,024).
NOTE
: In the case of Reverse Mode bit is set in Drive Mode(10), the sign of Homing Offset value will
not be reversed.
2. 4. 11. Moving Threshold(24)
This value helps to determine whether the DYNAMIXEL is in motion or not.
When the absolute value of
Present Velocity(128)
is greater than the Moving Threshold(24),
Moving(122) is set to ‘1’, otherwise it is cleared to ‘0’.
Values
Description
