Robotis DX-116 - Manual (Page 10)

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English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL DX-116
3. Communication Protocol
3-1. Communication Overview
Packet The Main Controller communicates with the Dynamixel by sending and receiving
data packets. There are two types of packets, the Instruction Packet (Main
Controller to Dynamixel) and the Status Packet (Dynamixel to Main Controller)
Communication For the system connection below, if the main controller sends an instruction
packet with the ID set to N, only the Dynamixel with this ID value will return its
respective status packet and perform the required instruction.
Unique ID Communication problems will arise if multiple Dynamixel's have the same ID
value. This will cause multiple packets to be sent simultaneously resulting in
packet collisions. It is imperative that ID values are unique within each data
network.
Protocol The Asynchronous Serial Communication word consists of 8 bits, 1 Stop bit and
no parity.
Instruction Packet
Status Packet
Main
Controller
ID=0 ID=1 ID=N
Main
Controller
Instruction Packet(ID=N)
Status Packet(ID=N)