15
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL
DX-116
Address 0X11
Alarm LED. When an Error occurs, if the corresponding Bit is set to 1, then the
LED blinks.
This function operates as the logical
“
OR
”
ing of all set bits. For example,
when the register is set to 0X05, the LED will blink when a Voltage Error
occurs or when an Overheating Error occurs. Upon returning to a normal
condition from an error state, the LED stops blinking after 2 seconds.
Address 0X12
Alarm Shutdown. When an Error occurs, if the corresponding Bit is set to a 1,
then the Dynamixel will shut down (Torque off).
This function operates as the logical
“
OR
”
ing of all set bits. However, unlike
the Alarm LED, after returning to a normal condition, it maintains a torque off
status. To remove this restriction, Torque Enable (Address0X18) is required to
be set to 1.
Address 0x14~0x17 Calibration. Data used for compensating for the differences between Robotis
products. Users cannot change this area.
Bit
Func tion
Bit 7
0
Bit 6
If s e t to 1 , LED blinks w he n Ins tr uc tion Er r or oc c ur s
Bit 5
If s e t to 1 , LED blinks w he n Ove r loa d Er r or oc c ur s
Bit 4
If s e t to 1 , LED blinks w he n Che c ks um Er r or oc c ur s
Bit 3
If s e t to 1 , LED blinks w he n Ra nge Er r or oc c ur s
Bit 2
If s e t to 1 , LED blinks w he n Ove r he a ting Er r or oc c ur s
Bit 1
If s e t to 1 , LED blinks w he n Angle Limit Er r or oc c ur s
Bit 0
If s e t to 1 , LED blinks w he n Input Volta ge Er r or oc c ur s
Bit
Func tion
Bit 7
0
Bit 6
If s e t to 1 , tor que off w he n Ins tr uc tion Er r or oc c ur s
Bit 5
If s e t to 1 , tor que off w he n Ove r loa d Er r or oc c ur s
Bit 4
If s e t to 1 , tor que off w he n Che c ks um Er r or oc c ur s
Bit 3
If s e t to 1 , tor que off w he n Ra nge Er r or oc c ur s
Bit 2
If s e t to 1 , tor que off w he n Ove r he a ting Er r or oc c ur s
Bit 1
If s e t to 1 , tor que off w he n Angle Limit Er r or oc c ur s
Bit 0
If s e t to 1 , tor que off w he n Input Volta ge Er r or oc c ur s
