Specifications

Item	Specifications
Baud Rate	7343 bps ~ 1 Mbps
Resolution	0.29°
Running Degree	0° ~ 300°
Weight	58g
Dimensions (W x H x D)	31mm x 46mm x 37mm
Gear Ratio	192.6 : 1
Stall Torque	1.0 N*m (at 12V)
No Load Speed	54rpm (at 12V)
Operating Temperature	-5°C ~ +85°C
Input Voltage	9 ~ 12V (Recommended : 11.1V)
Command Signal	Digital Packet
Protocol Type	Half Duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Physical Connection	RS485 Multi Drop Bus(Daisy Chain Type Connector)
ID	0 ~ 253
Feedback	Position, Temperature, Load, Input Voltage, etc
Material	Full Metal Gear, Engineering Plastic Body

{% include en/dxl/warning.md %}

{% include en/dxl/control_table_protocol1.md %}

Control Table of EEPROM Area

Address	Size (Byte)	Data Name	Description	Access	Initial Value
0	2	Model Number	Model Number	R	113
2	1	Firmware Version	Firmware Version	R	-
3	1	ID	DYNAMIXEL ID	RW	1
4	1	Baud Rate	Communication Speed	RW	34
5	1	Return Delay Time	Response Delay Time	RW	250
6	2	CW Angle Limit	Clockwise Angle Limit	RW	0
8	2	CCW Angle Limit	Counter-Clockwise Angle Limit	RW	1023
11	1	Temperature Limit	Maximum Internal Temperature Limit	RW	85
12	1	Min Voltage Limit	Minimum Input Voltage Limit	RW	60
13	1	Max Voltage Limit	Maximum Input Voltage Limit	RW	190
14	2	Max Torque	Maximun Torque	RW	1023
16	1	Status Return Level	Select Types of Status Return	RW	2
17	1	Alarm LED	LED for Alarm	RW	36
18	1	Shutdown	Shutdown Error Information	RW	36

Control Table of RAM Area

Address	Size (Byte)	Data Name	Description	Access	Initial Value
24	1	Torque Enable	Motor Torque On/Off	RW	0
25	1	LED	Status LED On/Off	RW	0
26	1	CW Compliance Margin	CW Compliance Margin	RW	0
27	1	CCW Compliance Margin	CCW Compliance Margin	RW	0
28	1	CW Compliance Slope	CW Compliance Slope	RW	32
29	1	CCW Compliance Slope	CCW Compliance Slope	RW	32
30	2	Goal Position	Target Position	RW	-
32	2	Moving Speed	Moving Speed	RW	-
34	2	Torque Limit	Torque Limit(Goal Torque)	RW	ADD 14&15
36	2	Present Position	Present Position	R	-
38	2	Present Speed	Present Speed	R	-
40	2	Present Load	Present Load	R	-
42	1	Present Voltage	Present Voltage	R	-
43	1	Present Temperature	Present Temperature	R	-
44	1	Registered	If Instruction is registered	R	0
46	1	Moving	Movement Status	R	0
47	1	Lock	Locking EEPROM	RW	0
48	2	Punch	Minimum Current Threshold	RW	32

Control Table Description

Model Number (0)

This address stores model number of the DYNAMIXEL.

Firmware Version (2)

This address stores firmware version of the DYNAMIXEL.

ID (3)

{% include en/dxl/control_table_id.md %}

Baud Rate (4)

{% include en/dxl/control_table_baudrate.md %}

Return Delay Time (5)

{% include en/dxl/control_table_return_delay_time.md %}

CW/CCW Angle Limit(6, 8)

{% include en/dxl/control_table_angle_limit.md %}

CAUTION : DX-113 does not support Wheel Mode. {: .notice--warning}

Temperature Limit (11)

{% include en/dxl/control_table_temp_limit.md %}

Min/Max Voltage Limit (12, 13)

{% include en/dxl/control_table_volt_limit_rx.md %}

Max Torque (14)

{% include en/dxl/control_table_max_torque.md %}

Status Return Level (16)

{% include en/dxl/control_table_status_return_lv.md %}

Alarm LED(17), Shutdown(18)

{% include en/dxl/control_table_alarm_shutdown.md %}

Torque Enable (24)

{% include en/dxl/control_table_torque_enable.md %}

LED (25)

{% include en/dxl/control_table_led.md %}

Compliance Margin (26, 27)

{% include en/dxl/control_table_compliance_margin.md %}

Compliance Slope (28, 29)

{% include en/dxl/control_table_compliance_slope.md %}

Goal Position (30)

{% include en/dxl/control_table_dx_goal_position.md %}

Moving Speed (32)

It is a moving speed to Goal Position. The range and the unit of the value may vary depending on the operation mode.

Join Mode 0~1023 (0X3FF) can be used, and the unit is about 0.111rpm. If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed. If it is 1023, it is about 114rpm. For example, if it is set to 300, it is about 33.3 rpm.

NOTE : Please check the maximum rpm of relevant model in Joint Mode. Even if the motor is set to more than maximum rpm, it cannot generate the torque more than the maximum rpm. {: .notice}

Torque Limit (34)

{% include en/dxl/control_table_torque_limit.md %}

Present Position (36)

{% include en/dxl/control_table_dx_present_position.md %}

It is the current moving speed. 0~~2047 (0X7FF) can be used. If a value is in the rage of 0~~1023, it means that the motor rotates to the CCW direction. If a value is in the rage of 1024~2047, it means that the motor rotates to the CW direction. That is, the 10th bit becomes the direction bit to control the direction, and 0 and 1024 are equal. The unit of this value varies depending on operation mode.

Joint Mode The unit is about 0.111rpm. For example, if it is set to 300, it means that the motor is moving to the CCW direction at a rate of about 33.3rpm.