Reg Write And Action - Robotis Dynamixel AX-12 User Manual

DYNAMIXEL
4-2. READ_DATA
Function
Length
Instruction
Parameter1
Parameter2
Example 2
4-3. REG_WRITE과 ACTION
4-3-1. REG_WRITE
Function
AX-12
Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6`
Because it was transmitted with a Broadcast ID (0XFE), no status packets are returned.
Read data from the control table of a Dynamixel actuator
0X04
0X02
Starting address of the location where the data is to be read
Length of the data to be read
Reading the internal temperature of the Dynamixel actuator with an ID of 1
Read 1 byte from address 0x2B of the control table.
Instruction Packet : 0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC`
The returned Status Packet will be as the following.
Status Packet : 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB
The data read is 0x20. Thus the current internal temperature of the Dynamixel actuator
is approximately 32°C (0X20).
The REG_WRITE instruction is similar to the WRITE_DATA instruction, but the
ID LENGTH INSTRUCTION PARAMETERS CHECKSUM
ID LENGTH INSTRUCTION PARAMETERS . CHECKSUM
ID LENGTH ERROR PARAMETER1 CHECKSUM
20