Value Responding Instructions
Description
2
All Instructions
Status Packet will be returned for all Instructions
NOTE
: If the ID of Instruction Packet is set to Broad Cast ID(0xFE), Status Packet will not be returned
for READ and WRITE Instructions regardless of Status Return Level. For more details, please refer to
the
Status Packet
section for
.
2. 4. 11. Alarm LED(17), Shutdown(18)
The DYNAMIXEL can protect itself by detecting dangerous situations that could occur during
the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options can be
generated.
For instance, when ‘0x05’ (binary : 00000101) is defined in
detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100).
If those errors are detected,
is cleared to ‘0’ and the motor output becomes
0 [%].
REBOOT is the only method to reset
to ‘1’(Torque ON) after the shutdown.
The followings are detectable situations.
Bit
Item
Description
Bit
7
0
-
Bit
6
Instruction
Error
When undefined Instruction is transmitted or the Action command is delivered without the
reg_write command
Bit
5
Overload Error When the current load cannot be controlled with the set maximum torque
Bit
4
CheckSum
Error
When the Checksum of the transmitted Instruction Packet is invalid
Bit
3
Range Error
When the command is given beyond the range of usage
Bit
2
OverHeating
Error
When the internal temperature is out of the range of operating temperature set in the
Control Table
Bit
1
Angle Limit
Error
When Goal Position is written with the value that is not between CW Angle Limit and
CCW Angle Limit
Bit
0
Input Voltage
Error
When the applied voltage is out of the range of operating voltage set in the Control Table
NOTE
: If Shutdown occurs,
LED will flicker every second.
2. 4. 12. Multi Turn Offset (20)
Adjusts offset position. This offset value is added to the Present Position(36).
Initial value is 0 and the range is from -24,576 to 24,576.
