CCW Angle Limit: the maximum value of
be set pursuant to the value of CW and CCW.
Operation Type
CW / CCW
Wheel Mode
both are 0
Joint Mode
neither are 0
Multi-turn Mode
both are 4095
The wheel mode can be used to wheel-type operation robots since motors of the robots spin
infinitely. The joint mode can be used to multi-joints robot since the robots can be controlled
with specific angles. Multi-turn mode allows joint mode control over multiple rotations (Position
range : -28,672 ~ 28,672)
2. 4. 7. Drive Mode (10)
This address configures Drive Mode of DYNAMIXEL.
Bit
Item
Description
Bit 7(0x80)
-
Unused, always ‘0’
Bit 6(0x40)
-
Unused, always ‘0’
Bit 5(0x20)
-
Unused, always ‘0’
Bit 4(0x10)
-
Unused, always ‘0’
Bit 3(0x08)
-
Unused, always ‘0’
Bit 2(0x04)
-
Unused, always ‘0’
Bit 1(0x02)
Master/Slave Mode
(Dual Joint)
[0]
Master Mode: Operate as a Master DYNAMIXEL.
[1]
Slave Mode: Operate as Slave DYNAMIXEL
Bit 0(0x01) Normal/Reverse Mode
[0]
Normal Mode: CCW(Positive), CW(Negative)
[1]
Reverse Mode: CCW(Negative), CW(Positive)
NOTE
: If the value of Bit 0(Normal/Reverse Mode) of the Drive Mode(10) is set to
1
, rotational
direction is inverted.
Thus,
Goal Position
,
Present Position
will have a inverted direction.
This feature can be very useful when configuring symmetrical joint or wheel system.
CAUTION
: When MX-106 and EX-106+ are set to Wheel Mode(endless), Normal/Reverse Mode is
not available.
Normal/Reverse Mode is activated under Joint Mode and Multi-turn Mode.
Please refer to
for configuring Operation Type.
2. 4. 7. 1. Dual Mode
Dual Mode is intended to combine two DYNAMIXEL into a single joint to enhance the
performance.
