The SR-DH4D includes 4 internal physical actuators. Each actuator exposes one Dynamixel ID on the bus, allowing the user direct control over each one.

In addition, a 5th Dynamixel ID is exposed, the Virtual Hand ID, which exposes higher level functions for the hand such as control of the LED colors, Bluetooth configuration (power status, pairing code), and acts as a high level/RAD control for closing and opening the hand.

By default the SR-DH4D hands come pre configured from factory with Default Dynamixel IDs (21~30). These can be easily changed using the Dynamixel protocol: using Dynamixel Wizard or any other technique appropriate for changing the ID on a Dynamixel device, if your application uses a different ID mapping. They can also be changed by using the console command ree.

The IDs are listed in the following order: Virtual ID / Wrist Rotation / Wrist Flexion / Thumb movement / Index fingers movement

• For Right Hands the default IDs are: 21 / 23 / 25 / 27 /29
• For Left Hands the default IDs are: 22 / 24 / 26 / 28 / 30

The SR-DH4D is symmetrical in terms of mechanical design; therefore, by simply changing the default IDs you can convert a Left hand on a Right hand and vice versa.

The SR-DH4D hand supports all speeds of the Dynamixel 1.0 protocol, from as low as 57600bps up to 3Mbps baud rate setting on the Dynamixel connector. (on other ports/interfaces, different speeds are supported).

By default the SR-DH4D comes configured with the following settings:

• Baud Rate: 0x1 [1Mbps]
• Status Return Level: 2 (0x2) [standard Dynamixel setting]
• Return delay time setting: 250 (0xFA) [standard Dynamixel setting]

Depending on how you placed your order, your hand comes with a 3 pin half duplex TTL connector or 4 pin RS485 connector, the two hardware interfaces used by Dynamixel devices. ( for other usages, the unit can also be ordered with Full Duplex TTL interface )

The communication settings can changed using the Dynamixel protocol: using Dynamixel Wizard or any other technique appropriate for changing the ID on a Dynamixel device, if your application uses a different ID mapping. They can also be changed by using the console command ree.