Status Packet (Return Packet) - Robotis Dynamixel RX-64 User Manual

RX-64

3-3. Status Packet (Return Packet)

0XFF 0XFF
ID
LENGTH
ERROR
RX-64 executes command received from the Main controller and returns the result to
the Main Controller. The returned data is called Status Packet. The structure of Status
Packet is as follows:
OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2...PARAMETER N
CHECK SUM
Each byte composing the packet means as below.
This signal notifies the beginning of the packet.
It is the ID of RX-64 which transfers Status Packet.
It is the length of Status Packet, the value of which is"the number of Parameters (N) + 2".
It displays the error status occurred during the operatio of RX-64. The meaning of each
bit is described in the below table.
Bit Name
Bit 7 0
Bit 6 Instruction Error
Bit 5 Overload Error
Bit 4 Checksum Error
Bit 3 Range Error
Bit 2 Overheating Error
Bit 1 Angle Limit Error
Bit 0 Input Voltage Error
In case of sending an undefined instruction or delivering
the action command without the reg_write command, it is
set as 1.
When the curren load cannot be controlled by the set
Torque, it is set as 1.
When the Checksum of the transmitted Instruction
Packet is incorrect, it is set as 1.
When a command is out of the range for use, it is set as
1
When internal temperature of Dynamixel is out of the
range of operating temperature set in the Control table, it
is set as 1.
When Goal Position is written out of the range from CW
Angle Limit to CCW Angle Limit , it is set as 1.
When the applied voltage is out of the range of operating
voltage set in the Control table, it is as 1.
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