Robotis Dynamixel AX-12 User Manual page 12

DYNAMIXEL
0XFF 0XFF
ID
LENGTH
ERROR
PARAMETER0...N
CHECK SUM
AX-12
The meanings of each packet byte definition are as the following.
The two 0XFF bytes indicate the start of the packet.
The unique ID of the Dynamixel unit returning the packet. The initial value is set to 1.
The length of the packet where its value is "Number of parameters (N) + 2"
The byte representing errors sent from the Dynamixel unit. The meaning of each bit is
as the following.
Bit Name
Bit 7 0
Bit 6 Instruction Error
Bit 5 Overload Error
Bit 4 Checksum Error
Bit 3 Range Error
Overheating
Bit 2
Error
Angle Limit
Bit 1
Error
Input Voltage
Bit 0
Error
Used if additional information is needed.
The computation method for the 'Check Sum' is as the following.
Check Sum = ~ (ID + Length + Instruction + Parameter1 + ... Parameter N)
If the calculated value is larger than 255, the lower byte is defined as the checksum
value. ~ represents the NOT logic operation.
Set to 1 if an undefined instruction is sent or an action
instruction is sent without a Reg_Write instruction.
Set to 1 if the specified maximum torque can't control the
applied load.
Set to 1 if the checksum of the instruction packet is incorrect.
Set to 1 if the instruction sent is out of the defined range.
Set to 1 if the internal temperature of the Dynamixel unit is
above the operating temperature range as defined in the
control table.
Set as 1 if the Goal Position is set outside of the range
between CW Angle Limit and CCW Angle
Limit.
Set to 1 if the voltage is out of the operating voltage range as
defined in the control table.
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Details
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