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DYNAMIXEL
DX-Series
Contents
1. Summary
1-1. Overview and Characteristics of DX-113, 116, and 117 Page 2
1-2. Main Specifications Page 3
2. Dynamixel Operation
2-1. Mechanical Assembly Page 4
2-2. Connector Assembly Page 4
2-3. Dynamixel Wiring Page 5
3. Communication Protocol
3-1. Communication Overview Page 8
3-2. Instruction Packet Page 9
3-3. Status Packet Page 9
3-4. Control Table Page 11
4. Instruction Set and Examples
4-1. WRITE DATA Page 18
4-2. READ DATA Page 19
4-3. REG WRITE and ACTION Page 19
4-4. PING Page 20
4-5. RESET Page 21
5. Examples Page 22
Appendix Page 28