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DYNAMIXEL
DX-116
English Translation by: Tribotix Pty Ltd
www.tribotix.com
Contents
1. Summary
1-1. Overview & Characteristics of DX-116 Page 2
1-2. Main Specification Page 4
2. Dynamixel Assembly
2-1. Mechanical Parts Assembly Page 5
2-2. Connector Assembly Page 5
2-3. Dynamixel Wiring Page 6
3. Communication Protocol
3-1. Communication Overview Page 9
3-2. Instruction Packet Page 10
3-3. Status Packet Page 10
3-4. Control Table Page 13
4. Instruction Set and Examples
4-1. WRITE _DATA Page 20
4-2. READ _DATA Page 21
4-3. REG_WRITE and ACTION Page 22
4-4. PING Page 23
4-5. RESET Page 24
5. Example Page 25
Appendix
Page 32