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Return Delay Time = 0x00 ?

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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Return Delay Time = 0x00 ?

Post by Lenny » Mon Jul 23, 2007 6:30 pm

Post by Lenny
Mon Jul 23, 2007 6:30 pm

Hello,

i have 20 AX12+ Firmware Version 0x16 and one with Firmware Version 0x18.
If i read the control table the Return Delay Time is 0x00. :?: All the other parameter of the control table seems to be ok.

Im just wondering why in the hand book the inital value is 0xFA.:?

Bye
Lenny
Hello,

i have 20 AX12+ Firmware Version 0x16 and one with Firmware Version 0x18.
If i read the control table the Return Delay Time is 0x00. :?: All the other parameter of the control table seems to be ok.

Im just wondering why in the hand book the inital value is 0xFA.:?

Bye
Lenny
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Post by JonHylands » Mon Jul 30, 2007 12:59 pm

Post by JonHylands
Mon Jul 30, 2007 12:59 pm

The return delay time is stored in EEPROM, so if at any point in the past you set it to zero, it will stay that way permanently unless you change it.

All of the servos I have bought have the initial value as 250.

- Jon
The return delay time is stored in EEPROM, so if at any point in the past you set it to zero, it will stay that way permanently unless you change it.

All of the servos I have bought have the initial value as 250.

- Jon
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Post by limor » Tue Jul 31, 2007 11:49 am

Post by limor
Tue Jul 31, 2007 11:49 am

have you tried modifying the value ? does it make any difference?

the return-delay is mostly important if you are doing some kind of close-loop control. there was a very active thread debating this issue here.
have you tried modifying the value ? does it make any difference?

the return-delay is mostly important if you are doing some kind of close-loop control. there was a very active thread debating this issue here.
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Post by Lenny » Mon Aug 06, 2007 7:50 pm

Post by Lenny
Mon Aug 06, 2007 7:50 pm

I was reading it in the handbook that the initial value is 250 (0xFA) but all my 21 servos have an value 0 at the moment. I'm sure that i did not overwrite this parameter with my code. Maybe the AX12+ have a diffent inital-value to the AX12 servos?
Why do i need a Return-Delay-Time? There are no communication problems with the servos so far.

Bye
Lenny
I was reading it in the handbook that the initial value is 250 (0xFA) but all my 21 servos have an value 0 at the moment. I'm sure that i did not overwrite this parameter with my code. Maybe the AX12+ have a diffent inital-value to the AX12 servos?
Why do i need a Return-Delay-Time? There are no communication problems with the servos so far.

Bye
Lenny
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Post by JonHylands » Mon Aug 06, 2007 8:02 pm

Post by JonHylands
Mon Aug 06, 2007 8:02 pm

Every servo I've looked at (all AX-12+) had a return delay time of 250. Well, actually, that's not true anymore. After I wrote the above line, I tested a few servos I have, including 4 that came out of a Bioloid beginner kit. All my other servos (from comprehensive kits) have the return delay time at 250, but all four of the servos from the beginner kit (which I have never touched or even hooked up to power until today) have a return delay time of zero.

This is basically 1/2 the number of microseconds the servo waits before sending a response back when it gets a command that requires a response.

This is mainly there to allow slower micro-controllers (like say a Basic Stamp) to communicate with the bus at a lower baud rate, and have time to switch from transmit mode to receive mode.

- Jon
Every servo I've looked at (all AX-12+) had a return delay time of 250. Well, actually, that's not true anymore. After I wrote the above line, I tested a few servos I have, including 4 that came out of a Bioloid beginner kit. All my other servos (from comprehensive kits) have the return delay time at 250, but all four of the servos from the beginner kit (which I have never touched or even hooked up to power until today) have a return delay time of zero.

This is basically 1/2 the number of microseconds the servo waits before sending a response back when it gets a command that requires a response.

This is mainly there to allow slower micro-controllers (like say a Basic Stamp) to communicate with the bus at a lower baud rate, and have time to switch from transmit mode to receive mode.

- Jon
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Post by Lenny » Tue Aug 07, 2007 8:47 pm

Post by Lenny
Tue Aug 07, 2007 8:47 pm

So, it seems that the last AX12+ comes with return delay time init of zero.

Thanks a lot Jon.

Lenny
So, it seems that the last AX12+ comes with return delay time init of zero.

Thanks a lot Jon.

Lenny
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