Hands Control Table

The control table consists of multiple data fields that represent the current status of the device and are necessary for operation and control.
Users can read specific data from the control table through Instruction Packets (READ Instruction) to understand the device status, and control the device by modifying data (WRITE Instruction).

Control Table, Data, and Address

The control table is a collection of multiple data fields for device status and control.
Users can read specific data from the control table through READ Instruction Packets to understand the device status.
Users can also control the device by modifying specific data in the control table through WRITE Instruction Packets.
Address is a unique value used to access specific data in the control table via Instruction Packets.
To read or write device data, the address of the corresponding data must be specified in the Instruction Packet.
For detailed information about Packets, please refer to DYNAMIXEL Protocol 2.0.

INFO

Negative numbers follow the Two's complement rule. For detailed explanation of Two's complement, please refer to Wikipedia's Two's complement.

Area (EEPROM, RAM)

The control table is divided into EEPROM, RAM, and Hybrid areas. The characteristics of each area are as follows:

Area	Description
EEPROM	Values in the EEPROM area are preserved even when power is turned off (Non-Volatile).
RAM	The RAM area is reset to default values each time power is applied (Volatile).

Size

Data size is determined by purpose, ranging from 1 to 4 bytes. When modifying data through Instruction Packets, please verify the size of the corresponding data.
Consecutive data of 2 bytes or more is recorded according to the Little Endian rule.

Access Permission

Control table data has two access attributes. 'RW' allows both read and write access. 'R' has a read-only attribute.
Data with read-only attributes cannot be changed via WRITE Instructions.
Read-only attributes ('R') are primarily used for measurement or monitoring purposes, while read-write attributes ('RW') are used for device control.

Initial Value

The default values for the EEPROM area listed in the manual are the initial settings (factory default settings) of the product.
If modified by the user, the default value becomes the value changed by the user.
The default value for the RAM area is the value set when power is applied to the device.

Control Table Structure

Address	Size (Byte)	Modbus Address	Area	Data Name	Access	Initial Value	Range	Unit
0	2	40001	EEPROM	Model Number	R	260	-	-
2	4	40002	EEPROM	Model Information	R	-	-	-
6	1	40004 (Lo byte)	EEPROM	Firmware Version	R	-	-	-
7	1	40004 (Hi byte)	EEPROM	ID	RW	10	0 ~ 252	-
8	1	40005 (Lo byte)	RAM	Bus Watchdog	RW	0	0 ~ 127	20 [msec]
11	1	40006 (Hi byte)	EEPROM	Protocol Type	RW	2	2 ~ 10	-
12	1	40007 (Lo byte)	EEPROM	Baud Rate (Bus)	RW	6	0 ~ 8	-
13	1	40007 (Hi byte)	EEPROM	Return Delay Time	RW	0	0 ~ 254	2 [μsec]
20	1	40011 (Lo byte)	EEPROM	Baud Rate (DXL)	RW	6	0 ~ 6	-
15	1	40008 (Hi byte)	RAM	Status Return Level	RW	2	0 ~ 2	-
16	1	40009 (Lo byte)	RAM	Registered Instruction	R	0	0 ~ 1	-
33	1	40017 (Hi byte)	EEPROM	Operating Mode	RW	0	0 ~ 1	-
60	2	40031	EEPROM	Max Voltage Limit	RW	3200	3200 ~ 5500	0.01 [V]
62	2	40032	EEPROM	Min Voltage Limit	RW	1600	1600 ~ 5500	0.01 [V]
65	1	40033 (Hi byte)	RAM	LED	RW	0	0 ~ 1	-
70	1	40036 (Lo byte)	RAM	TableSync Enable	RW	0	0 ~ 1	-
71	1	40036 (Hi byte)	RAM	Hardware Error Status	R	0	-	-
100	2	40051	RAM	Realtime Tick	R	0	0 ~ 32,767	1 [msec]
102	2	40052	RAM	Present Input Voltage	R	-	-	0.01 [V]
106	1	40054 (Lo byte)	RAM	Status	R	0	-	-
122	2	N/A	EEPROM	Indirect Address 1	RW	0	512 ~ 1,023	-
124	2	N/A	EEPROM	Indirect Address 2	RW	0	512 ~ 1,023	-
...	...	...	...	...	...	...	...	...
632	2	N/A	EEPROM	Indirect Address 256	RW	0	512 ~ 1,023	-
634	1	N/A	RAM	Indirect Data 1	RW	0	0 ~ 255	-
635	1	N/A	RAM	Indirect Data 2	RW	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
889	1	N/A	RAM	Indirect Data 256	RW	0	0 ~ 255	-
1024	1	40513 (Lo byte)	EEPROM	TableSync1 ID 1	RW	255	0 ~ 252	-
1025	1	40513 (Hi byte)	EEPROM	TableSync1 ID 2	RW	255	0 ~ 252	-
...	...	...	...	...	...	...	...	...
1029	1	40515 (Hi byte)	EEPROM	TableSync1 ID 6	RW	255	0 ~ 252	-
1030	2	40516	EEPROM	TableSync1 Read Address 1	RW	0	0 ~ 1023	-
1032	2	40517	EEPROM	TableSync1 Read Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1040	2	40521	EEPROM	TableSync1 Read Address 6	RW	0	0 ~ 1023	-
1042	2	40522	EEPROM	TableSync1 Read Size 1	RW	0	0 ~ 1023	-
1044	2	40523	EEPROM	TableSync1 Read Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1052	2	40527	EEPROM	TableSync1 Read Size 6	RW	0	0 ~ 1023	-
1054	2	40528	EEPROM	TableSync1 Write Address 1	RW	0	0 ~ 1023	-
1056	2	40529	EEPROM	TableSync1 Write Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1064	2	40533	EEPROM	TableSync1 Write Address 6	RW	0	0 ~ 1023	-
1066	2	40534	EEPROM	TableSync1 Write Size 1	RW	0	0 ~ 1023	-
1068	2	40535	EEPROM	TableSync1 Write Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1076	2	40539	EEPROM	TableSync1 Write Size 6	RW	0	0 ~ 1023	-
1078	1	40540 (Lo byte)	RAM	TableSync1 Read Data 1	R	0	0 ~ 255	-
1079	1	40540 (Hi byte)	RAM	TableSync1 Read Data 2	R	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1149	1	40575 (Hi byte)	RAM	TableSync1 Read Data 72	R	0	0 ~ 255	-
1150	1	40576 (Lo byte)	RAM	TableSync1 Write Data 1	RW	0	0 ~ 255	-
1151	1	40576 (Hi byte)	RAM	TableSync1 Write Data 2	RW	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1221	1	40611 (Hi byte)	RAM	TableSync1 Write Data 72	RW	0	0 ~ 255	-
1222	1	40612 (Lo byte)	EEPROM	TableSync2 ID 1	RW	255	0 ~ 252	-
1223	1	40612 (Hi byte)	EEPROM	TableSync2 ID 2	RW	255	0 ~ 252	-
...	...	...	...	...	...	...	...	...
1227	1	40614 (Hi byte)	EEPROM	TableSync2 ID 6	RW	255	0 ~ 252	-
1228	2	40615	EEPROM	TableSync2 Read Address 1	RW	0	0 ~ 1023	-
1230	2	40616	EEPROM	TableSync2 Read Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1238	2	40620	EEPROM	TableSync2 Read Address 6	RW	0	0 ~ 1023	-
1240	2	40621	EEPROM	TableSync2 Read Size 1	RW	0	0 ~ 1023	-
1242	2	40622	EEPROM	TableSync2 Read Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1250	2	40626	EEPROM	TableSync2 Read Size 6	RW	0	0 ~ 1023	-
1252	2	40627	EEPROM	TableSync2 Write Address 1	RW	0	0 ~ 1023	-
1254	2	40628	EEPROM	TableSync2 Write Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1262	2	40632	EEPROM	TableSync2 Write Address 6	RW	0	0 ~ 1023	-
1264	2	40633	EEPROM	TableSync2 Write Size 1	RW	0	0 ~ 1023	-
1266	2	40634	EEPROM	TableSync2 Write Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1274	2	40638	EEPROM	TableSync2 Write Size 6	RW	0	0 ~ 1023	-
1276	1	40639 (Lo byte)	RAM	TableSync2 Read Data 1	R	0	0 ~ 255	-
1277	1	40639 (Hi byte)	RAM	TableSync2 Read Data 2	R	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1347	1	40674 (Hi byte)	RAM	TableSync2 Read Data 72	R	0	0 ~ 255	-
1348	1	40675 (Lo byte)	RAM	TableSync2 Write Data 1	RW	0	0 ~ 255	-
1349	1	40675 (Hi byte)	RAM	TableSync2 Write Data 2	RW	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1419	1	40710 (Hi byte)	RAM	TableSync2 Write Data 72	RW	0	0 ~ 255	-
1420	1	40711 (Lo byte)	EEPROM	TableSync3 ID 1	RW	255	0 ~ 252	-
1421	1	40711 (Hi byte)	EEPROM	TableSync3 ID 2	RW	255	0 ~ 252	-
...	...	...	...	...	...	...	...	...
1425	1	40713 (Hi byte)	EEPROM	TableSync3 ID 6	RW	255	0 ~ 252	-
1426	2	40714	EEPROM	TableSync3 Read Address 1	RW	0	0 ~ 1023	-
1428	2	40715	EEPROM	TableSync3 Read Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1436	2	40719	EEPROM	TableSync3 Read Address 6	RW	0	0 ~ 1023	-
1438	2	40720	EEPROM	TableSync3 Read Size 1	RW	0	0 ~ 1023	-
1440	2	40721	EEPROM	TableSync3 Read Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1448	2	40725	EEPROM	TableSync3 Read Size 6	RW	0	0 ~ 1023	-
1450	2	40726	EEPROM	TableSync3 Write Address 1	RW	0	0 ~ 1023	-
1452	2	40727	EEPROM	TableSync3 Write Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1460	2	40731	EEPROM	TableSync3 Write Address 6	RW	0	0 ~ 1023	-
1462	2	40732	EEPROM	TableSync3 Write Size 1	RW	0	0 ~ 1023	-
1464	2	40733	EEPROM	TableSync3 Write Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1472	2	40737	EEPROM	TableSync3 Write Size 6	RW	0	0 ~ 1023	-
1474	1	40738 (Lo byte)	RAM	TableSync3 Read Data 1	R	0	0 ~ 255	-
1475	1	40738 (Hi byte)	RAM	TableSync3 Read Data 2	R	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1545	1	40773 (Hi byte)	RAM	TableSync3 Read Data 72	R	0	0 ~ 255	-
1546	1	40774 (Lo byte)	RAM	TableSync3 Write Data 1	RW	0	0 ~ 255	-
1547	1	40774 (Hi byte)	RAM	TableSync3 Write Data 2	RW	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1617	1	40809 (Hi byte)	RAM	TableSync3 Write Data 72	RW	0	0 ~ 255	-
1618	1	40810 (Lo byte)	EEPROM	TableSync4 ID 1	RW	255	0 ~ 252	-
1619	1	40810 (Hi byte)	EEPROM	TableSync4 ID 2	RW	255	0 ~ 252	-
...	...	...	...	...	...	...	...	...
1623	1	40812 (Hi byte)	EEPROM	TableSync4 ID 6	RW	255	0 ~ 252	-
1624	2	40813	EEPROM	TableSync4 Read Address 1	RW	0	0 ~ 1023	-
1626	2	40814	EEPROM	TableSync4 Read Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1634	2	40818	EEPROM	TableSync4 Read Address 6	RW	0	0 ~ 1023	-
1636	2	40819	EEPROM	TableSync4 Read Size 1	RW	0	0 ~ 1023	-
1638	2	40820	EEPROM	TableSync4 Read Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1646	2	40824	EEPROM	TableSync4 Read Size 6	RW	0	0 ~ 1023	-
1648	2	40825	EEPROM	TableSync4 Write Address 1	RW	0	0 ~ 1023	-
1650	2	40826	EEPROM	TableSync4 Write Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1658	2	40830	EEPROM	TableSync4 Write Address 6	RW	0	0 ~ 1023	-
1660	2	40831	EEPROM	TableSync4 Write Size 1	RW	0	0 ~ 1023	-
1662	2	40832	EEPROM	TableSync4 Write Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1670	2	40836	EEPROM	TableSync4 Write Size 6	RW	0	0 ~ 1023	-
1672	1	40837 (Lo byte)	RAM	TableSync4 Read Data 1	R	0	0 ~ 255	-
1673	1	40837 (Hi byte)	RAM	TableSync4 Read Data 2	R	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1743	1	40872 (Hi byte)	RAM	TableSync4 Read Data 72	R	0	0 ~ 255	-
1744	1	40873 (Lo byte)	RAM	TableSync4 Write Data 1	RW	0	0 ~ 255	-
1745	1	40873 (Hi byte)	RAM	TableSync4 Write Data 2	RW	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1815	1	40908 (Hi byte)	RAM	TableSync4 Write Data 72	RW	0	0 ~ 255	-
1816	1	40909 (Lo byte)	EEPROM	TableSync5 ID 1	RW	255	0 ~ 252	-
1817	1	40909 (Hi byte)	EEPROM	TableSync5 ID 2	RW	255	0 ~ 252	-
...	...	...	...	...	...	...	...	...
1821	1	40911 (Hi byte)	EEPROM	TableSync5 ID 6	RW	255	0 ~ 252	-
1822	2	40912	EEPROM	TableSync5 Read Address 1	RW	0	0 ~ 1023	-
1824	2	40913	EEPROM	TableSync5 Read Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1832	2	40917	EEPROM	TableSync5 Read Address 6	RW	0	0 ~ 1023	-
1834	2	40918	EEPROM	TableSync5 Read Size 1	RW	0	0 ~ 1023	-
1836	2	40919	EEPROM	TableSync5 Read Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1844	2	40923	EEPROM	TableSync5 Read Size 6	RW	0	0 ~ 1023	-
1846	2	40924	EEPROM	TableSync5 Write Address 1	RW	0	0 ~ 1023	-
1848	2	40925	EEPROM	TableSync5 Write Address 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1856	2	40929	EEPROM	TableSync5 Write Address 6	RW	0	0 ~ 1023	-
1858	2	40930	EEPROM	TableSync5 Write Size 1	RW	0	0 ~ 1023	-
1860	2	40931	EEPROM	TableSync5 Write Size 2	RW	0	0 ~ 1023	-
...	...	...	...	...	...	...	...	...
1868	2	40935	EEPROM	TableSync5 Write Size 6	RW	0	0 ~ 1023	-
1870	1	40936 (Lo byte)	RAM	TableSync5 Read Data 1	R	0	0 ~ 255	-
1871	1	40936 (Hi byte)	RAM	TableSync5 Read Data 2	R	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
1941	1	40971 (Hi byte)	RAM	TableSync5 Read Data 72	R	0	0 ~ 255	-
1942	1	40972 (Lo byte)	RAM	TableSync5 Write Data 1	RW	0	0 ~ 255	-
1943	1	40972 (Hi byte)	RAM	TableSync5 Write Data 2	RW	0	0 ~ 255	-
...	...	...	...	...	...	...	...	...
2013	1	41007 (Hi byte)	RAM	TableSync5 Write Data 72	RW	0	0 ~ 255	-
2016	1	41009 (Lo byte)	RAM	Preset Index	RW	0	0 ~ 2	-
2017	1	41009 (Hi byte)	RAM	Preset Motion Index	RW	0	0 ~ 100	1 [%]
2018	2	41010	RAM	Preset Motion Time	RW	0	0 ~ 32,737	1 [msec]

Control Table Description

Model Number (0)

The model number of the device.

Model Information (2)

Additional information about the device model.

Firmware Version (6)

The firmware version of the device.

ID (7)

A unique number used to identify the device via Instruction Packets. Values from 0 to 253 (0xFD) can be used, and 254 (0xFE) is specially used as the Broadcast ID. When an Instruction Packet is sent with the Broadcast ID (254, 0xFE), commands can be sent to all devices.

INFO

Be careful not to duplicate IDs of connected devices. If device IDs are duplicated, communication errors will occur and searching for DYNAMIXELs with unique IDs will fail.

INFO

When the ID of an Instruction packet is the Broadcast ID (0xFE), Status Packets for Read Instructions or Write Instructions are not returned regardless of the Status Return Level (15) setting. For more details, please refer to the Status Packet section in DYNAMIXEL Protocol 2.0.

Bus Watchdog (8)

Bus Watchdog (8) is a convenience feature that stops the TableSync function when communication (RS485) between the controller and device is interrupted due to an unspecified error.
Here, communication refers to all Instruction Packets defined in the protocol.

	Value	Description
Range	0	Bus Watchdog function disabled, Bus Watchdog Error cleared
Range	1 ~ 127	Bus Watchdog enabled (unit: 20 [msec])
Range	-1	Bus Watchdog Error status

The Bus Watchdog function monitors the communication interval (time) between the controller and device when TableSync Enable (70) is '1' (TableSync ON).
If the measured communication interval (time) is greater than the Bus Watchdog (8) setting, the TableSync function stops.
At this time, Bus Watchdog (8) changes to '-1' (Bus Watchdog Error).
Changing the Bus Watchdog (8) value to '0' clears the Bus Watchdog Error.

Protocol Type (11)

To communicate with DYNAMIXEL, an appropriate protocol type must be selected.
Please refer to the following table and select the appropriate DYNAMIXEL protocol according to the protocol type of the device to be used together.

Value	Type	Description
2 (default)	DYNAMIXEL Protocol 2.0	Refer to protocol compatibility table
10	Modbus-RTU, Industrial Standard Protocol

Baud Rate (Bus) (12)

Communication speed for communication with the upper controller.

Value	Communication Speed	Error Rate
8	6M [bps]	0.000 [%]
7	4.5M [bps]	0.000 [%]
6 (default)	4M [bps]	0.000 [%]
5	3M [bps]	0.000 [%]
4	2M [bps]	0.000 [%]
3	1M [bps]	0.000 [%]
2	115,200 [bps]	0.000 [%]
1	57,600 [bps]	0.000 [%]
0	9,600 [bps]	0.000 [%]

INFO

UART communication is not affected if the baud rate error is within 3 [%].

INFO

When using U2D2, lower the USB port response delay time (Latency) for stable communication at high baud rates.

Return Delay Time (13)

When DYNAMIXEL receives an Instruction Packet, it waits for Return Delay Time (13) and then returns a Status Packet.
Values from 0 to 254 (0xFE) can be used, and the unit is 2 [μsec].
For example, if the value is 10, the Status Packet is returned after 20 [μsec].

Unit	Range	Description
2 [μsec]	0 ~ 254	Default: '0' (0 [μsec])

Status Return Level (15)

Determines the return method of Status Packets.

Value	Responding Instructions	Description
0	PING Instruction	Returns Status Packet only for PING commands
1	PING Instruction READ Instruction	Returns Status Packet only for PING and READ commands
2	All Instructions	Returns Status Packet for all commands

INFO

When the Instruction Packet ID is the Broadcast ID, Status Packets for Read Instructions or Write Instructions are not returned regardless of the Status Return Level (15) setting. For more details, please refer to the Status Packet section in DYNAMIXEL Protocol 2.0.

Registered Instruction (16)

Indicates whether Write information has been registered by Reg Write Instruction.

Value	Description
0	No command registered by REG_WRITE.
1	Command registered by REG_WRITE exists.

INFO

When an ACTION command is executed, the Registered Instruction (16) value changes to '0'.

Baud Rate (DXL) (20)

Communication speed for communication with DYNAMIXEL.

Value	Communication Speed	Error Rate
6 (default)	4M [bps]	0.000 [%]
5	3M [bps]	0.000 [%]
4	2M [bps]	0.000 [%]
3	1M [bps]	0.000 [%]
2	115,200 [bps]	0.000 [%]
1	57,600 [bps]	0.000 [%]
0	9,600 [bps]	0.000 [%]

INFO

UART communication is not affected if the baud rate error is within 3 [%].

Operating Mode (33)

Sets the operating mode of the device. Since each operating mode has different characteristics, please set the operating mode appropriate for the system you want to implement.

Value	Operating Mode	Description
0	Direct Control Mode	Mode that allows control using TableSync function or direct control of DYNAMIXEL.
1	Preset Motion Mode	Mode that can perform pre-configured motions using DYNAMIXEL Wizard 2.0.

INFO

In Direct Control Mode, when the TableSync function is disabled, direct access and control of DYNAMIXEL is possible.

Min/Max Voltage Limit (60, 62)

Upper and lower limits of operating voltage. When Present Input Voltage (102), which represents the current voltage applied to the device, is outside the range of Max Voltage Limit (60) and Min Voltage Limit (62), the Input Voltage Error Bit (0x01) of Hardware Error Status (71) is set, and the Status Packet transmits the Alert Bit (0x80) through the Error field.

Unit	Value	Description
Approx. 0.01 [V]	1600 ~ 5500	16.0 ~ 55.0 [V]

LED (65)

Turns the LED ON/OFF.

Value	Description
0 (default)	Turns LED off.
1	Turns LED on.

INFO

LED operation according to device status (conditions).

Status	LED Operation
Booting	Flashes once
Factory Reset	Flashes 4 times
Alarm	Flashes
Boot Mode	Flashes
On	Flashes

TableSync Enable (70)

Enables/disables the TableSync function. Be sure to disable TableSync before configuring it.

Hardware Error Status (71)

The device can detect dangerous situations during operation and protect itself. Since each bit's function is applied with OR logic, multiple settings are possible.
The controller can check whether the Alert Bit (0x80) is set in the Error field of the Status Packet, or check the current status through Hardware Error Status (71).
The detectable dangerous situations are shown in the table below.

Bit	Name	Description
7	-	Unused, always '0'
6	Bus Watchdog Error	When Bus Watchdog Error occurs
5	-	Unused, always '0'
4	-	Unused, always '0'
3	-	Unused, always '0'
2	-	Unused, always '0'
1	-	Unused, always '0'
0	Input Voltage Error	When the applied voltage is outside the set operating voltage range

Realtime Tick (100)

A counter representing the device's time.

Unit	Range	Description
1 [msec]	0 ~ 32,767	Restarts from '0' after 32,767.

Present Input Voltage (102)

The current supply voltage.

Status (106)

Represents the current status of ROBOTIS Hand.

Bit	Name	Description
7	-	Unused, always '0'
6	Bus Watchdog Error	When Bus Watchdog Error occurs
5	-	Unused, always '0'
4	-	Unused, always '0'
3	-	Unused, always '0'
2	-	Unused, always '0'
1	-	Unused, always '0'
0	Input Voltage Error	When the applied voltage is outside the set operating voltage range

Indirect Address (122~632), Indirect Data (634~889)

Users can use this function to collect and use necessary control tables.
When a specific address is set in the Indirect Address Table, the Indirect Data Table will have the same function as that specific address.
For example, if '65' is written to Indirect Address 1 (122) and '1' is written to Indirect Data 1 (634), the LED will turn on. The value of LED (65) will also be written as '1'.
Also, if a value is written to LED (65), the value of Indirect Data 1 will change in the same way. When a specific address is set in Indirect Address, Indirect Data becomes the same table as that address.
A point to note is when setting a Control Table with a length of 2 bytes or more as an Indirect Address.
All bytes of the Control Table Item must be set as Indirect Addresses for normal operation.
For example, to use Indirect Data 2 as TableSync1 Read Address 1 (1030), it must be set as follows.

INFO

Example 1: Assigning 1-byte LED (65) to Indirect Data 1 (634).
Indirect Address 1 (122): Change to '65', which is the address value of LED.
Change Indirect Data 1 (634) to '1': LED (65) value also changes to '1' and LED turns on.
Change Indirect Data 1 (634) to '0': LED (65) value also changes to '0' and LED turns off.

INFO

Example 2: To assign 2-byte TableSync1 Read Address 1 (1030) to Indirect Data 2 (635), all consecutive 2 bytes must be assigned.
Indirect Address 2 (124): Change value to 1030, which is the first address of TableSync1 Read Address 1.
Indirect Address 3 (126): Change value to 1031, which is the second address of TableSync1 Read Address 1.
Change 2 bytes from Indirect Data 2 to 3 to 561 (0x0231): TableSync1 Read Address 1 (1030) also changes to 561 (0x0231).

Indirect Data Address	TableSync1 Read Address 1 Address	Stored HEX Value
635	1030	0x31
636	1031	0x02

INFO

To assign data of 2 bytes or more to Indirect Address, all data addresses must be assigned to Indirect Address as in Example 2.

TableSync [ID, Read Address, Read Size, Write Address, Write Size, Read Data, Write Data] (1024~2013)

Users can use this function to map specific areas of DYNAMIXEL's control table to ROBOTIS Hand's Table Sync Read Data and Table Sync Write Data areas.
ROBOTIS Hand's TableSync consists of 5 channels in total, with channel 1 assigned to the thumb, channel 2 to the index finger, channel 3 to the middle finger, channel 4 to the ring finger, and channel 5 to the little finger.
Specify the DYNAMIXEL ID to be mapped in TableSync ID, and specify the start address and size to read from DYNAMIXEL using TableSync Read Address and TableSync Read Size. Then data will be mapped to TableSync Read Data in the order of ID settings. Also, specify the start address and size of data to write to DYNAMIXEL using TableSync Write Address and TableSync Write Size. Then TableSync Write Data will be mapped in the order of ID settings. After configuration, setting TableSync Enable to 1 activates the TableSync function, and TableSync Read Data is constantly updated, while TableSync Write Data updates the mapped control table of DYNAMIXEL when data is written.
If the TableSync ID value is 255, that slot is disabled. A maximum of 6 slots can be mapped per channel.
For example, to map Present Position and Goal Position of 2 DYNAMIXELs with IDs 1 and 2 to TableSync1 Read Data and TableSync1 Write Data, configure as follows.

INFO

TableSync1 ID 1 : 1
TableSync1 ID 2 : 2
TableSync1 Read Address 1 : 132
TableSync1 Read Address 2 : 116
TableSync1 Read Size 1 : 4
TableSync1 Read Size 2 : 4
TableSync1 Write Address 1 : 132
TableSync1 Write Address 2 : 116
TableSync1 Write Size 1 : 4
TableSync1 Write Size 2 : 4

When TableSync Enable is set to 1, TableSync1 Read Data 1~4 will be the same as ID1's Present Position value, and TableSync Read Data 5~8 will be the same as ID2's Present Position value. Also, writing values to TableSync Write Data 1~4 will write to ID1's Goal Position, and writing values to TableSync Write Data 5~8 will write to ID2's Goal Position.

INFO

Set TableSync Read Size and TableSync Write Size according to the size of the control table you want to map. Incorrect size settings may cause data corruption.

Preset Index (2016)

When Operating Mode (33) is in Preset Motion Mode, you can select which of the 3 stored preset motions to perform.
Editing and saving preset motions is possible in the ROBOTIS Hand's menu of DYNAMIXEL Wizard 2.0.

Preset Motion Index (2017)

A function that can perform linearly interpolated motion between the start and end motions of the preset motion selected in Preset Index (2016).
At 0%, the start motion is performed, and at 100%, the end motion is performed.

Preset Motion Time (2018)

When playing the preset motion selected in Preset Index (2016), the delay time between each motion playback can be set.