View Full Version : [Question(s)] Dynamixel Control Codes in Roboplus Task

11-03-2011, 02:19 PM
In the "Task" file for the Robot Arm example, the first thing the program does is execute the following statement for each of the 8 servos in the robot. It calls the function with the 8 steps "Motor Initialization". Here's the statement:

ID[x}: ADDR[8(w)] = 0000 0011 1111 1111

What does this code do and where can I find a list of codes and their meaning?


Kenneth Russell

11-03-2011, 03:16 PM
That is the "CCW Angle Limit" register. By writing a non-zero number to that register, you set the AX-12 into servo mode instead of wheel/continuous rotation mode. The Robotis Support Site (http://support.robotis.com/en/techsupport_eng.htm#product/dynamixel/ax_series/dxl_ax_actuator.htm) contains pretty much everything you could need.