Robotis Dynamixel X Series Manual page 11

8. Turn off LED on five DYNAMIXEL. However, as there is no DYNAMIXEL with ID '100',
Status Packet is not returned.
2. 4. 9. Protocol Type(13)
Users can select DYNAMIXEL protocol type (1.0 and 2.0).
Even if Protocol 1.0 is selected, Protocol 2.0 Control Table will be used.
It is recommended to use an identical protocol type for multiple DYNAMIXEL.
Value Protocol Type
1
2(default)
WARNING : In order to change the Protocol Type to Protocol 1.0, please use
as R+ Manager 2.0 does not support Protocol 1.0.
NOTE : The protocol 2.0 is greatly enhanced from the protocol 1.0. Accessing some of the Control
Table area might be denied if protocol 1.0 is selected. This manual complies with protocol 2.0. Please
refer to the Protocol 1.0
NOTE : Please refer to the
2. 4. 10. Homing Offset(20)
Users can adjust the Home position by setting Home Offset(20). The Homing Offset value is
added to the Present
Present Position(132) = Actual Position + Homing Offset(20)
Unit
about 0.088 [°]
NOTE : In case of the Position Control Mode(Joint Mode) that rotates less than 360 degrees, any
invalid Homing Offset(20) values will be ignored(valid range : -1,024 ~ 1,024).
NOTE : In the case of Reverse Mode bit is set in Drive Mode(10), the sign of Homing Offset value will
not be reversed.
2. 4. 11. Moving Threshold(24)
This value helps to determine whether the DYNAMIXEL is in motion or not.
When the absolute value of
Moving(122) is set to '1', otherwise it is cleared to '0'.
Values
1.0 AX Series, DX Series, RX Series, EX Series, MX Series with Firmware below v39
2.0 MX-28/64/106 with Firmware v39 or above, X Series, PRO Series
and Protocol 2.0 of e-Manual for more details about the protocol.
Protocol Compatibility table
Position(132).
Value Range
-1,044,479 ~ 1,044,479
(-255 ~ 255[rev])
Present Velocity(128)
Compatible DYNAMIXEL
for product.
Description
4,096 resolution
is greater than the Moving Threshold(24),
Description
DYNAMIXEL Wizard 2.0