Write_Data; Read_Data - Robotis Dynamixel AX-12 User Manual

DYNAMIXEL

4-1. WRITE_DATA

Function
Length
Instruction
Parameter1
Parameter2
Parameter3
Parameter N+1
Example 1
AX-12
4. Instruction Set and Examples
The following Instructions are available.
Instruction
PING No action. Used for obtaining a Status Packet
READ DATA Reading values in the Control Table
W RITE DATA W riting values to the Control Table
Sim ilar to W RITE_DATA, but stays in standby
REG W RITE
m ode until the ACION instruction is given
Triggers the action registered by the
ACTION
REG_W RITE instruction
Changes the control table values of the
RESET Dynam ixel actuator to the Factory Default Value
settings
Used for controlling m any Dynam ixel actuators
SYNC W RITE
at the sam e tim e
To write data into the control table of the Dynamixel actuator
N+3 (N is the number of data to be written)
0X03
Starting address of the location where the data is to be written
1st data to be written
2nd data to be written
Nth data to be written
Setting the ID of a connected Dynamixel actuator to 1
Write 1 to address 3 of the control table. The ID is transmitted using the Broadcasting ID
(0xFE).
Function
19
Num ber of
Value
Param eter
0x01 0
0x02 2
0x03 2 ~
0x04 2 ~
0x05 0
0x06 0
0x83 4~