Robotis Dynamixel DX-117 - Manual (Page 19)

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DYNAMIXEL DX-Series
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 2nd Data to write
Parameter N+1 Nth 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 Broadcasting
ID (0xFE).
Instruction Function Value
Num ber of
Parameter
PING
No action. Used to obtain a Dynam ixel Status
Packet.
0x01 0
READ DATA Read the values in the Control table. 0x02 2
W RITE DATA W rite the values to the Control Table. 0x03 2 ~
REG W RITE
Sim ilar to W RITE DATA, but stay in standby
m ode until write upon the action instruction.
0x04 2 ~
ACTION Start the action registered by REG W RITE. 0x05 0
RESET
Change the values of the Dynam ixel in the
control table back to the Factory Default Values
0x06 0