Data Sheet

2/22/2018 ROBOTIS e-Manual

http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 8/34

Address

Size

(Byte)

Data Name Description Access

Initial

Value

636 1

Indirect Data

Indirect Data 31 RW 0

… … … … … …

659 1

Indirect Data

Indirect Data 54 RW 0

660 1

Indirect Data

Indirect Data 55 RW 0

661 1

Indirect Data

Indirect Data 56 RW 0

Caution Protocol 1.0 does not support addresses greater than 256.

Therefore, Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can

only be accessed with Protocol 2.0.

2. 4. Control Table Description

Caution Data in the EEPROM Area can only be written when the

value of Torque Enable(64) is cleared to ‘0’.

2. 4. 1. Model Number(0)

This address stores model number of the DYNAMIXEL.

2. 4. 2. Firmware Version(6)

This address stores firmware version of the DYNAMIXEL.

2. 4. 3. ID(7)

The ID is a unique value in the network to identify each

DYNAMIXEL with an Instruction Packet. 0~252 (0xFC) values

can be used as an ID, and 254(0xFE) is occupied as a

broadcast ID. The Broadcast ID(254, 0xFE) can send an

Instruction Packet to all connected DYNAMIXELs

simultaneously.

Note Please avoid using an identical ID for multiple

DYNAMIXELs. You may face communication failure or may not be

able to detect Dynamixels with an identical ID.

2. 4. 4. Baud Rate(8)

Baud Rate determines serial communication speed between a

controller and DYNAMIXELs.

Value Baud Rate Margin of Error

XM430-W210