- Axis Communication Dynamixel AX-12 User's Manual

DYNAMIXEL
AX-12
Address 0x05 Return Delay Time. The time it takes for the Status Packet to return after the Instruction
Packet is sent. The delay time is given by 2uSec * Address5 value.
Address 0x06,0x07,0x08,0x09
Operating Angle Limit. Sets the Dynamixel actuator’s operating angle range. The Goal
Position needs to be within the range of: CW Angle Limit <= Goal Position <= CCW
Angle Limit. An Angle Limit Error will occur if the Goal Position is set outside this range
set by the operating angle limits.
Address 0x0B
the Highest Limit Temperature. The upper limit of the Dynamixel actuator’s operating
temperature. If the internal temperature of the Dynamixel actuator gets higher than this
value, the Over Heating Error Bit (Bit 2 of the Status Packet) will return the value 1, and
an alarm will be set by Address 17, 18. The values are in Degrees Celsius.
Address 0x0C,0x0D
the Lowest (Highest) Limit Voltage. The upper and lower limits of the Dynamixel
actuator’s operating voltage. If the present voltage (Address 42) is out of the specified
range, a Voltage Range Error Bit (Bit 0 of the Status Packet) will return the value 1,
and an alarm will be set by Address 17, 18. The values are 10 times the actual voltage
value. For example, if the Address 12 value is 80, then the lower voltage limit is set to
8V.
Address 0x0E,0x0F, 0x22,0x23
Max Torque. The maximum torque output for the Dynamixel actuator. When this value
is set to 0, the Dynamixel actuator enters the Free Run mode. There are two locations
where this maximum torque limit is defined; in the EEPROM (Address 0X0E, 0x0F) and
in the RAM (Address 0x22, 0x23). When the power is turned on, the maximum torque
limit value defined in the EEPROM is copied to the location in the RAM. The torque of
the Dynamixel actuator is limited by the values located in the RAM (Address 0x22,
0x23).
Address 0X10
Status Return Level. Determines whether the Dynamixel actuator will return a Status
Packet after receiving an Instruction Packet.
Address16
Returning the Status Packet
0
Do not respond to any instructions
1 Respond only to READ_DATA instructions
2
Respond to all instructions
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