- ROBOTIS Dynamixel RX-28 User's Manual

DYNAMIXEL

RX-28

Example 13

Setting the maximum torque to 50% of its maximum possible value for a

Dynamixel actuator with an ID of 0

Set the MAX Torque value located in the ROM area to 0x1ff which is 50% of the

maximum value 0x3ff.

Instruction Packet

Instruction = WRITE_DATA, Address = 0x0E, DATA = 0xff, 0x01

Communication ->[Dynamixel]:FF FF 00 05 03 0E FF 01 E9 (LEN:009)

<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)

Status Packet Result NO ERROR

To verify the effect of the adjusted Max Torque value, the power needs to be turned off

and then on.

Example 14 Set the Dynamixel actuator with an ID of 0 to never return a Status Packet

Instruction Packet Instruction = WRITE_DATA, Address = 0x10, DATA = 0x00

Communication ->[Dynamixel]:FF FF 00 04 03 10 00 E8 (LEN:008)

<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)

Status Packet Result NO ERROR

The Status Packet is not returned starting with the following instruction.

Example 15 Set the Alarm to blink the LED and Shutdown (Torque off) the actuator when the

operating temperature goes over the set limit

Since the Overheating Error is Bit 2, set the Alarm value to 0x04.

Instruction Packet

Instruction = WRITE_DATA, Address = 0x11, DATA = 0x04, 0x04

Communication ->[Dynamixel]:FF FF 00 05 03 11 04 04 DE (LEN:009)

<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)

Status Packet Result NO ERROR

Example 16

Turn on the LED and Enable Torque for a Dynamixel actuator with an ID of 0