Robotis DX-116 - Manual (Page 28)

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English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL DX-116
number), that is, the effect of the values of Compliance between 0x11 and 0x20
are the same.
Example 17 Position Dynamixel with ID=0 at Position 180°after moving it at the speed of
35RPM.
Set Address 0x1E(Goal Position) = 0x200, Address 0x20(Moving Speed) =
0x200
Instruction Packet
Instruction = WRITE_DATA, Address = 0x1E, DATA = 0x00, 0x02, 0x00, 0x02
Communication
->[Dynamixel]:FF FF 00 07 03 1E 00 02 00 02 D3 (LEN:011)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 18 Set the position of a Dynamixel (ID=0) to an angular Position of 0°and another
Dynamixel (ID=1) to an angular Position of 300°. Make sure both Dynamixels
start at the same time.
If you use WRITE_DATA instruction, two Dynamixel can not start at the same
time, therefore use REG_WRITE and ACTION.
Instruction Packet ID=0, Instruction = REG_WRITE, Address = 0x1E, DATA = 0x00, 0x00
ID=1, Instruction = REG_WRITE, Address = 0x1E, DATA = 0xff, 0x03
ID=0xfe(Broadcasting ID), Instruction = ACTION,
Communication
->[Dynamixel]:FF FF 00 05 04 1E 00 00 D8 (LEN:009)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
->[Dynamixel]:FF FF 01 05 04 1E FF 03 D5 (LEN:009)
<-[Dynamixel]:FF FF 01 02 00 FC (LEN:006)
->[Dynamixel]:FF FF FE 02 05 FA (LEN:006)
<-[Dynamixel]: //No return packet against broadcasting ID
Status Packet Result NO ERROR
Example 19 Prevent the Dynamixel with ID=0 from changing values other than within the
range between Address 0x18 and Address 0x23.
Set Address 0x2F(Lock) to 1.