Data Sheet

2/22/2018 ROBOTIS e-Manual

http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 9/34

Value Baud Rate Margin of Error

7 4.5M 0.000%

6 4M 0.000%

5 3M 0.000%

4 2M 0.000%

3 1M 0.000%

2 115,200 0.000%

1(Default) 57,600 0.000%

0 9,600 0.000%

Note Less than 3% of the baud rate error margin will not affect

to UART communication.

2. 4. 5. Return Delay Time(9)

After the DYNAMIXEL receives an Instruction Packet, it delays

transmitting the Status Packet for Return Delay Time (9). For

instance, if the Return Delay Time(9) is set to ‘10’, the Status

Packet will be returned after 20[μsec] when the Instruction

Packet is received.

Unit

Value

Range

Description

2[μsec] 0 ~ 254

Default value ‘250’(500[μsec]), Maximum

508[μsec]

2. 4. 6. Drive Mode(10)

Drive Mode is availabe from the firmware version 38.

Bit Item Description

Bit 1(0x02) ~

7(0x80)

N/A Unused, always ‘0’

Bit 0(0x01)

Direction of

Rotation

Normal Mode(0): CCW(Positive),

CW(Negative)

Reverse Mode(1): CCW(Negative),

CW(Positive)

2. 4. 7. Operating Mode(11)

Value

Operating

Mode

Description

XM430-W210