Robotis Dynamixel DX-117 - Manual (Page 21)

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DYNAMIXEL DX-Series
Function REG_WRITE instruction is similar to the WRITE_DATA instruction, but the
execution timing is different. When the Instruction Packet is received the values
are saved into the Buffer and the Write instruction is under a standby status.
The Registered Instruction register (Address 0x2C) is set to 1. After an Action
Instruction Packet is received the registered Write instruction is executed.
Length N+3 (The number of Write Data bytes is N)
Instruction 0X04
Parameter1 Start Address for Write Data
Parameter2 1st Data to Write
Parameter3 2nd Data to Write
Parameter N+1 N+1 Nth Data to Write
4-3-2. ACTION
Function Execute the WRITE instruction written by REG_WRITE
Length 0X02
Instruction 0X05
Parameter NONE
The ACTION instruction is useful when multiple Dynamixels needs to move
simultaneously. When controlling multiple units, slight time delays occur between the 1st
unit to receive an instruction and the last one. The Dynamixel approach fixes this problem
through the use of the ACTION instruction.
Broadcasting When sending ACTION instructions to move more than two Dynamixel units, the
Broadcast ID (0XFE) should be utilised.
4-4. PING
Function Used to request a specific Dynamixel status packet or to check the existence of a
Dynamixel with a particular ID
Length 0X02
Instruction 0X01
Parameter NONE