Co. Ltd. User's Manual smart actuator DX-116

English Translation by: Tribotix Pty Ltd

www.tribotix.com

DYNAMIXEL

DX-116

Address 0x20,0x21 Moving Speed

. The angular speed to move to the Goal Position. If set to the

maximum values of 0x3ff, it moves at 70RPM.

Address 0x24,0x25 Present Position

. Current position of the Dynamixel.

Address 0x26,0x27 Present Speed

. Current Speed of the Dynamixel.

Address 0x28,0x29 Present Load

. Load size on the Dynamixel in action. Bit 10 is the direction of the

load.

Load Direction = 0 : CCW Load, Load Direction = 1: CW Load

Address 0x2A Present Voltage

. The voltage applied to the Dynamixel. The value is 10 times the

actual voltage. For example, 10V is read as 100(0x64).

Address 0x2B Present Temperature

. Current internal Dynamixel temperature (Degrees Celsius).

Address 0x2C Registered Instruction

. Set to 1 when a REG_WRITE instruction is made. After an

Action instruction and an action it is reset to 0.

Address 0x2E Moving.

Set to 1 when the Dynamixel moves by its own power.

BIT 15~11 10 9876543210

Value 0 Load Direction Load Value

0°

(Goal Position = 0)

300°

(Goal Position = 0x3ff)

150°

(Goal Position = 0x1ff)

330~360°

Invalid Angle