Example - Robotis Dynamixel AX-12 User Manual

DYNAMIXEL

Example 6

Instruction Packet
Communication
Status Packet Result
Example 7
Instruction Packet
Communication
Status Packet Result
Example 8
Instruction Packet
Communication
Status Packet Result
Example 9
AX-12
5. Example
For the following examples, we assume a Dynamixel actuator with an ID of 1 in Reset
status and that the Baud rate is 57142 BPS.
Reading the Model Number and Firmware Version of the Dynamixel actuator with
an ID of 1
Instruction = READ_DATA, Address = 0x00, Length = 0x03
->[Dynamixel]:FF FF 01 04 02 00 03 F5 (LEN:008)
<-[Dynamixel]:FF FF 01 05 00 74 00 08 7D (LEN:009)
Model Number = 116 (0x74) (for the case of DX-116) Firmware Version = 0x08
Changing the ID to 0 for a Dynamixel actuator with an ID of 1
Instruction = WRITE_DATA, Address = 0x03, DATA = 0x00
->[Dynamixel]:FF FF 01 04 03 03 00 F4 (LEN:008)
<-[Dynamixel]:FF FF 01 02 00 FC (LEN:006)
NO ERROR
Changing the Baud Rate of a Dynamixel actuator to 1M bps
Instruction = WRITE_DATA, Address = 0x04, DATA = 0x01
->[Dynamixel]:FF FF 00 04 03 04 01 F3 (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
NO ERROR
Resetting the Return Delay Time to 4 uSec for a Dynamixel actuator with an ID of
0
A Return Delay Time Value of 1 corresponds to 2uSec.
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