Robotis MX-106R, Manual

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generated.
For instance, when ‘0x05’ (binary : 00000101) is defined in
Shutdown(18) , DYNAMIXEL can
detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100).
If those errors are detected,
Torque Enable(24) is cleared to ‘0’ and the motor output becomes
0 [%].
REBOOT is the only method to reset
Torque Enable(24) to ‘1’(Torque ON) after the shutdown.
The followings are detectable situations.
Bit Item Description
Bit
7
0 -
Bit
6
Instruction
Error
When undefined Instruction is transmitted or the Action command is delivered without the
reg_write command
Bit
5
Overload Error When the current load cannot be controlled with the set maximum torque
Bit
4
CheckSum
Error
When the Checksum of the transmitted Instruction Packet is invalid
Bit
3
Range Error When the command is given beyond the range of usage
Bit
2
OverHeating
Error
When the internal temperature is out of the range of operating temperature set in the
Control Table
Bit
1
Angle Limit
Error
When Goal Position is written with the value that is not between CW Angle Limit and
CCW Angle Limit
Bit
0
Input Voltage
Error
When the applied voltage is out of the range of operating voltage set in the Control Table
NOTE : If Shutdown occurs, LED will flicker every second.
2. 4. 13. Multi Turn Offset (20)
Adjusts offset position. This offset value is added to the Present Position(36).
Initial value is 0 and the range is from -24,576 to 24,576.
DYNAMIXEL with a Present position of 2,048 with an offset of 1,024 will return an adjusted
Present position of 3,072.
NOTE : This offset feature is only available in multi-turn mode.