Robotis MX-106R, Manual

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Baud Rate determines serial communication speed between a controller and DYNAMIXEL.
Available value range is 0 ~ 254(0xFE), and below is the equation for BPS calculation.
Baudrate(BPS) = 2,000,000 / (Value + 1)
Value Baud Rate(bps) Margin of Error
0 2M 0.000 [%]
1 1M 0.000 [%]
3 500,000 0.000 [%]
4 400,000 0.000 [%]
7 250,000 0.000 [%]
9 200,000 0.000 [%]
16 115200 -2.124 [%]
34(Default) 57600 0.794 [%]
103 19200 -0.160 [%]
207 9600 -0.160 [%]
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
For BPS over 250 values :
Value Baud Rate Margin of Error
250 2,250,000 0.000%
251 2,500,000 0.000%
252 3,000,000 0.000%
2. 4. 5. Return Delay Time (5)
After the DYNAMIXEL receives an Instruction Packet, it delays transmitting the Status Packet
for
Return Delay Time(5) . For instance, if the Return Delay Time(5) 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. CW/CCW Angle Limit(6, 8)
The angle limit allows the motion to be restrained. The range and the unit of the value is the
same as
Goal Position(30) .
CW Angle Limit: the minimum value of Goal Position(30)