Robotis Dynamixel DX-116 Manual do Utilizador descarregar pdf (Página 21)

English Translation by: Tribotix Pty Ltd

www.tribotix.com

DYNAMIXEL

DX-116

Broadcasting ID (0xFE).

Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6`

ID LENGTH INSTRUCTION PARAMETERS CHECKSUM

Because it was transmitted by Broadcast ID(0XFE), no return status packet.

4-2. READ_DATA

Function Read data from the Control Table of Dynamixel.

Length 0X04

Instruction 0X02

Parameter1 Starting Address of Data to Read

Parameter2 length of Data to Read

Example 2 Read the internal temperature of the Dynamixel with ID=1.

Read 1 byte from the Address 0x2B values of the Control Table.

Instruction Packet : 0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC`

ID LENGTH INSTRUCTION PARAMETERS .. CHECKSUM

The returned Status Packet will be as follows.

Status Packet : 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB

ID LENGTH ERROR PARAMETER1 CHECKSUM

The value read is 0x20.The current Dynamixel’s internal temperature is

approximately 32℃ (0X20).

4-3. REG_WRITE and ACTION

REG_WRITE

1 2 ... 16 17 18 19 20 21 22 23 24 25 26 ... 39 40

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Robotis Dynamixel DX-116 Manual do Utilizador Página 21