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DYNAMIXEL
RX-64
Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6`
ID LENGTH INSTRUCTION PARAMETERS CHECKSUM
Because it was transmitted with a Broadc ast ID (0XFE), no status packets are returned.
4-2. READ_DATA
Function Read data f rom the control table of a Dynamixel actu ator
Length 0X04
Instruction 0X02
Parameter1
Starting address of the location where the data is to be read
Parameter2 Length of the data to be read
Example 2 Reading the internal temperature of the Dynamixel actuator with an ID of 1
Read 1 byte from address 0x2B of the control table.
Instruction Packet : 0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC`
ID LENGTH INSTRUCTION PARAMETERS . CHECKSUM
The returned Status Packet will be as the following.
Status Packet : 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB
ID LENGTH ERROR PARAMETER1 CHECKSUM
T he data read is 0x20. Thus the current internal temperatu re of the Dynamixel actuator
is approximately 32°C (0X20).
4-3. REG_WRITE과 ACTION
4-3-1. REG_WRITE
Function The REG_WRITE instruction is similar to the WRITE_DATA instruction, but the