2/22/2018
ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/
11/34
Note
PWM is the abbreviation for Pulse Width Modulation that
modulates PWM Duty to control motors. The PWM Control Mode
changes pulse width to control average supply voltage to the
motor and this technique is widely used in the motor control
field. Therefore, PWM Control Mode uses Goal PWM(100) value
to control supply voltage for DYNAMIXEL. PWM Control Mode is
similar to the Wheel Mode of DYNAMIXEL AX and RX series.
2. 4. 8. Secondary(Shadow) ID(12)
Set the Dynamixel’s Secondary ID. Secondary ID(12) is a value
to identify each Dynamixel, just like the ID(7). However, unlike
ID(7), Secondary ID(12) is not a unique value. Therefore,
Dynamixels with the same Secondary ID value form a group.
The differences between Secondary ID(12) and ID(7) are as
follows :
1. Secondary ID(12) is not a unique value. i.e., a lot of
Dynamixels may have the same Secondary ID value.
2. ID(7) has a higher priority than Secondary ID(12). i.e., if
Secondary ID(12) and ID(7) are the same, ID(7) will be
applied first.
3. The EEPROM area of the Control Table cannot be modified
with Secondary ID(12). Only the RAM area can be
modified.
4. If Instruction Packet ID is the same as Secondary ID(12),
the Status Packet will not be returned.
5. If the value of Secondary ID(12) is 253 or higher, the
Secondary ID function is deactivated.
Values
Description
0 ~ 252
Activate Secondary ID function
253 ~ 255 Deactivate Secondary ID function, Default value ‘255’
The following are examples of operation when there are five
Dynamixels with ID (7) set from 1 to 5.
1. Set all five Dynamixels’ Secondary ID(12) to ‘5’.
2. Send Write Instruction Packet(ID = 1, LED(65) = 1).
3. Turn on LED of Dynamixel with ID ‘1’ and return the Status
Packet.
4. Send Write Instruction Packet(ID = 5, LED(65) = 1).
5. Turn on LED on five Dynamixels. However, Status Packet of
Dynamixel with ID ‘5’ will be returned.
6. Set the Secondary ID(12) of all five Dynamixels to ‘100’.
7. Send Write Instruction Packet(ID = 100, LED(65) = 0).
8. Turn off LED on five Dynamixels. However, as there is no
Dynamixel with ID ‘100’, Status Packet is not returned.
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