Robotis DX-116 - Manual (Page 20)

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English Translation by: Tribotix Pty Ltd
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DYNAMIXEL DX-116
4. Instruction Set and Examples
The following Instructions are available.
4-1. WRITE_DATA
Function Write data into the control table of the Dynamixel
Length N+3 (Writing Data is N)
Instruction 0X03
Parameter1 Start Address of the Area to write Data
Parameter2 1st Data to write
Parameter3 2 nd Data to write
Parameter N+1 N th Data to write
Example 1 Set ID of connected Dynamixel as 1
Write 1 into the Address 3 of the Control Table. The ID is transmitted using
Ins tr uc tion
Na me
Func tion Va lue
Numbe r of
P ar ame te r
P ING
No a c tion. Us e d to obta in a Dyna mix e l
Sta tus P a c ke t.
0 x 0 1 0
READ_DAT A Re a d the va lue s in the Contr ol T a ble . 0 x 0 2 2
WRIT E_DAT A Wr ite the va lue s to the Contr ol T a ble . 0 x 0 3 2 ~
REG_WRIT E
Simila r to WRIT E_DAT A, but s ta y in
s ta ndby mode until the wr ite upon the
a c tion ins tr uc tion.
0 x 0 4 2 ~
ACT ION Sta r t the a c tion r e gis te r e d by REG_WRIT E 0 x 0 5 2
RESET
Cha nge the va lue s of the Dyna mix e l in the
c ontr ol ta ble ba c k to the Fa c tor y De fa ult
Va lue s .
0 x 0 6 0