In order to control these servos, the ID must be known and addressed with issuing commands. This video shows the ID of a Dynamixel being set. To ensure the ID was set properly, the servo will be commanded to rotate from the 0th tick poosition to the 300th tick position.
Setting the Position
This video demonstrates setting the XL-320 servo from the 0th tick position to the 1023rd tick position.
Using the XL-320 as a Wheel
This video demonstrates using the XL-320 servo as a wheel by rotating the servo in one direction for five seconds, rotating the servo in the reverse direction for five seconds, and finally stopping the wheel for two seconds before restarting the process.
Reading the Position of the XL-320 Horn
The XL-320 has internal encoders that enable the servo to feedback the position of its horn. This video demonstrates this feedback by outputting the position of the horn, as it is turned with a screwdrivr.
Synchronous Control of XL-320 Servos
This video demonstrates synchronous control of two servos. One servo will oscillate from 0 degrees to 180 degrees every second, while the other servo will oscillate from 45 degrees to 90 degrees every 2 seonds.