Robotis Dynamixel X Series, Руководство пользователя

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1. PWM Control Mode is similar to the Wheel Mode of DYNAMIXEL AX and RX series.
2. Use Goal PWM(100) on PWM Control Mode in order to control supply voltage for DYNAMIXEL.
NOTE
: Present Position(132) represents 4 byte continuous range from -2,147,483,648 to
2,147,483,647 when Torque is turned off regardless of Operating Mode(11) .
However, Present Position(132) will be reset to an absolute position value of one full rotation in those
cases:
1. When Operating Mode(11) is changed to Position Control Mode, Present Position(132) will be
reset to an absolute position value of a full rotation.
2. When torque is turned on in Position Control Mode, Present Position(132) will be reset to an
absolute position value of one full rotation.
3. When turning off the power supply on Extended Position Control Mode, Present Position(132) will
be reset to an absolute position value of one full rotation.
Present Position(132) value can be affected by Homing Offset(20) .
2. 4. 8. Secondary(Shadow) ID(12)
Set the DYNAMIXEL’s Secondary ID. Secondary ID(12) is a value to identify each
DYNAMIXEL, just like the ID(7). However, unlike ID(7), Secondary ID(12) is not a unique value.
Therefore, DYNAMIXEL with the same Secondary ID value form a group. The differences
between Secondary ID(12) and ID(7) are as follows :
1. Secondary ID(12) is not a unique value. i.e., a lot of DYNAMIXEL may have the same
Secondary ID value.
2. ID(7) has a higher priority than Secondary ID(12). i.e., if Secondary ID(12) and ID(7) are the
same, ID(7) will be applied first.
3. The EEPROM area of the Control Table cannot be modified with Secondary ID(12). Only
the RAM area can be modified.
4. If Instruction Packet ID is the same as Secondary ID(12), the Status Packet will not be
returned.
5. If the value of Secondary ID(12) is 253 or higher, the Secondary ID function is deactivated.
Values Description
0 ~ 252 Activate Secondary ID function
253 ~ 255 Deactivate Secondary ID function, Default value ‘255’
The following are examples of operation when there are five DYNAMIXEL with ID (7) set from 1
to 5.
1. Set all five DYNAMIXEL’ Secondary ID(12) to ‘5’.
2. Send Write Instruction Packet(ID = 1, LED(65) = 1).
3. Turn on LED of DYNAMIXEL with ID ‘1’ and return the Status Packet.
4. Send Write Instruction Packet(ID = 5, LED(65) = 1).
5. Turn on LED on five DYNAMIXEL. However, Status Packet of DYNAMIXEL with ID ‘5’ will
be returned.
6. Set the Secondary ID(12) of all five DYNAMIXEL to ‘100’.
7. Send Write Instruction Packet(ID = 100, LED(65) = 0).