Filter
Top Products
11
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL
DX-116
OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N
CHECK SUM
The meaning of each byte within the packet is as follows:-
0XFF 0XFF Two 0XFF bytes indicate the start of a packet
ID ID of the Dynamixel which is returning the packet.
LENGTH The length of the Status Packet. The value is “Parameter number (N) + 2”.
ERROR Dynamixel communication error flags. The meaning of each bit is as follows:
PARAMETER0…N Used when additional information is required.
CHECK SUM Calculation method of ‘Check Sum’is as follows:
Check Sum = ~( ID + Length + Instruction + Parameter1 + … Parameter N )
If the calculated value is bigger than 255, the lower byte becomes the checksum.
~ represents the Not or complement operation
Bit Name Details
Bit 7 0 -
Bit 6
Instruction
Error
Set to 1 if an undefined instruction is given without
the reg_write instruction.
Bit 5
Overload
Error
Set to 1 if the specified torque can't control the
load.
Bit 4
Checksum
Error
Set to 1 if the checksum of the intruction packet is
incorrect
Bit 3 Range Error Set to 1 if the intruction is out of the usage range
Bit 2
Overheating
Error
Set as 1 if the internal temperature of Dynamixel is
out of the operative range as set in the control
table.
Bit 1
Angle Limit
Error
Set as 1 if the Goal Position is set outside of the
range between CW Angle Limit and CCW Angle
Limit.
Bit 0
Input Voltage
Error
Set to 1 if the voltage is out of the operative range
set in the control table