2. 4. 14. Resolution Divider (22)
It allows the user to change DYNAMIXEL’s resolution.
The default Resolution Divider Value is set as 1. (1 ~ 4 available)
When resolution is lowered, revolutions (in both directions) can be increased (up to 28 turns in
each direction).
For example, a Real Position of 2048 with a Resolution Divider set as 2 will yield a Present
Position value of 1024 (2048/2 = 1024).
A DYNAMIXEL with Resolution Divider set as 2 will have a resolution 2048 for a single
revolution.
The Present Position can be obtained while Multi-turn Offset and Resolution Divider are taken
into account.
For example, a DYNAMIXEL with a Real Position of 2048 with a Resolution Divider set as 4
and Multi-turn Offset as 1024 will yield a Present Position of 1535 ((2048/4) + 1024 = 1535).
NOTE
: This feature is only applied in multi-turn mode and will be ignored in other modes.
2. 4. 15. Torque Enable (24)
Value
Description
0(Default) Turn off the torque
1
Turn on the torque and lock EEPROM area
2. 4. 16. LED (25)
Turn on or turn off the LED on DYNAMIXEL.
Bit
Description
0(Default) Turn OFF the LED
1
Turn ON the LED
Present Position = Real Position / Resolution Divider
Present position = (Real Position / Resolution Divider) + Multi-turn Offset
