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15
DYNAMIXEL
RX-64
In the case of an instruction which us es 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.
This function operates f ollo wing the “OR” logical oper ation of all bits. For example, if t he
value is set to 0X05, the LED will blink when an Input Voltage Error occurs or when an
Overheating Error occurs. Upon ret urning 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 Dynamix el actuator’s torque
will be turned off when an 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 chang e this data.
The following (from Address 0x18) is in the R AM area.
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
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