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DYNAMIXEL
RX-64
4. Instruction Set and Examples
The following Instructions are available.
4-1. WRITE_DATA
Function To write data into the control table of the Dyn amixel actuator
Length N+3 (N is the number of data to be written)
Instruction 0X03
Parameter1
Starting address of the location where the data is to be writt en
Parameter2 1st data to be written
Parameter3 2nd data to be written
Parameter N+1 Nth data to be written
Example 1 Setting the ID of a connected Dynamixel actuator to 1
Write 1 to address 3 of the control table. The ID is tr ansmitt ed using t he Broadc ast ing I D
(0xFE).
Instruction Function Value
Number of
Param eter
PING No action. U sed for obtaining a Status Packet 0x01 0
READ DATA Reading values in the Control Table 0x02 2
WR ITE D ATA Writing values to the Control Table 0x03 2 ~
REG WRITE
Similar to WRITE_DATA, but stays in standby
m ode until the AC IO N instruction is given
0x04 2 ~
ACTION
Triggers the action registered by the
RE G_WRITE instruction
0x05 0
RESET
Changes the control table values of the
Dynam ixel actuator to the Factory Default Value
s e ttin g s
0x06 0
S Y N C W RIT E
U s e d fo r c o n tr o llin g ma n y D y n a mixe l a c tu a to rs
at the same tim e
0x83 4~