2. 4. 28. Lock (47)
Value Description
0
EEPROM area can be modified
1
EEPROM area cannot be modified
CAUTION
: If Lock is set to 1, the power must be turned off and then turned on again to change into 0.
2. 4. 29. Punch (48)
Minimum current to drive motor. This value ranges from 0x20 to 0x3FF.
2. 4. 30. Realtime-Tick (50)
This value indicates DYNAMIXEL’s time.
Unit
Value Range
Description
1 ms
0 ~ 32,767
The value resets to ‘0’ when it exceeds 32,767
NOTE
: This feature is available from Firmware v40.
2. 4. 31. Current (68)
At an idle state without current flow, this value is 2,048(0x800).
When positive current flows, this value becomes larger than 2,048(0x800) while negative
current flow returns a value smaller than 2,048(0x800).
The following is current flow calculation formula.
I = ( 4.5mA ) * (CURRENT – 2048 ) in amps unit (A).
For example, 68 gives a value of 2148, which corresponds to 450mA of current flow.
2. 4. 32. Torque Control Mode Enable (70)
Value
Meaning
0
Turn off the torque mode. Executes Joint mode or Wheel mode
