Robotis DX-116 - Manual (Page 12)

11
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL DX-116
OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N
CHECK SUM
The meaning of each byte within the packet is as follows:-
0XFF 0XFF Two 0XFF bytes indicate the start of a packet
ID ID of the Dynamixel which is returning the packet.
LENGTH The length of the Status Packet. The value is “Parameter number (N) + 2”.
ERROR Dynamixel communication error flags. The meaning of each bit is as follows:
PARAMETER0…N Used when additional information is required.
CHECK SUM Calculation method of ‘Check Sum’is as follows:
Check Sum = ~( ID + Length + Instruction + Parameter1 + … Parameter N )
If the calculated value is bigger than 255, the lower byte becomes the checksum.
~ represents the Not or complement operation
Bit Na me De ta ils
Bit 7 0 -
Bit 6
Ins tr uc tion
Er r or
Se t to 1 if a n unde fine d ins tr uc tion is give n without
the r e g_w r ite ins tr uc tion.
Bit 5
Ove r loa d
Er r or
Se t to 1 if the s pe c ifie d tor que c a n't c ontr ol the
loa d.
Bit 4
Che c ks um
Er r or
Se t to 1 if the c he c ks um of the intr uc tion pa c ke t is
inc or r e c t
Bit 3 Ra nge Er r or Se t to 1 if the intr uc tion is out of the us a ge r a nge
Bit 2
Ove r he a ting
Er r or
Se t a s 1 if the inte r na l te mpe r a tur e of Dyna mix e l is
out of the ope r a tive r a nge a s s e t in the c ontr ol
ta ble .
Bit 1
Angle Limit
Er r or
Se t a s 1 if the Goa l P os ition is s e t outs ide of the
r a nge be twe e n CW Angle Limit a nd CCW Angle
Limit.
Bit 0
Input Volta ge
Er r or
Se t to 1 if the volta ge is out of the ope r a tive r a nge
s e t in the c ontr ol ta ble