- ROBOTIS Dynamixel RX-28 User's Manual

DYNAMIXEL

RX-28

In the case of an instruction which uses the Broadcast ID (0XFE) the Status Packet will

not be returned regardless of the Address 0x10 value.

Address 0X11 Alarm LED

. If the corresponding Bit is set to 1, the LED blinks when an Error occurs.

Bit Function

Bit 7 0

Bit 6 If set to 1, the LED blinks when an Instruction Error occurs

Bit 5 If set to 1, the LED blinks when an Overload Error occurs

Bit 4 If set to 1, the LED blinks when a Checksum Error occurs

Bit 3 If set to 1, the LED blinks when a Range Error occurs

Bit 2 If set to 1, the LED blinks when an Overheating Error occurs

Bit 1 If set to 1, the LED blinks when an Angle Limit Error occurs

Bit 0 If set to 1, the LED blinks when an Input Voltage Error occurs

This function operates following the “OR” logical operation of all bits. For example, if the

value is set to 0X05, the LED will blink when an Input 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

. If the corresponding Bit is set to a 1, the Dynamixel actuator’s torque

will be turned off when an error occurs.

Bit Function

Bit 7 0

Bit 6

If set to 1, torque off when an Instruction Error occurs

Bit 5

If set to 1, torque off when an Overload Error occurs

Bit 4

If set to 1, torque off when a Checksum Error occurs

Bit 3

If set to 1, torque off when a Range Error occurs

Bit 2

If set to 1, torque off when an Overheating Error occurs

Bit 1

If set to 1, torque off when an Angle Limit Error occurs

Bit 0

If set to 1, torque off when an Input Voltage Error occurs

This function operates following the “OR” logical operation of all bits. However, unlike

the Alarm LED, after returning to a normal condition, it maintains the torque off status.

To recover, the Torque Enable (Address0X18) needs to be reset to 1.

Address 0x14~0x17 Calibration

. Data used for compensating for the differences between the

potentiometers used in the Dynamixel units. The user cannot change this data.

The following (from Address 0x18) is in the RAM area.