Robotis Dynamixel DX-117 - Manual (Page 23)

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DYNAMIXEL DX-Series
5. Example
Used to explain through example with the assumption that the Dynamixel has been
Reset (ID = 1, Baudrate = 57142BPS)
Example 6 Read the Model Number and Firmware Version of a Dynamixel with ID=1
Instruction Packet Instruction = READ_DATA, Address = 0x00, Length = 0x03
Communication
->[Dynamixel]:FF FF 01 04 02 00 03 F5 (LEN:008)
<-[Dynamixel]:FF FF 01 05 00 74 00 08 7D (LEN:009)
Status Packet Result Model Number = 116(0x74), Firmware Version = 0x08
Example 7 Change ID number of Dynamixel from 1 to 0.
Instruction Packet Instruction = WRITE_DATA, Address = 0x03, DATA = 0x00
Communication
->[Dynamixel]:FF FF 01 04 03 03 00 F4 (LEN:008)
<-[Dynamixel]:FF FF 01 02 00 FC (LEN:006)
Status Packet Result NO ERROR
Example 8 Change Baud Rate of Dynamixel to 1M bps.
Instruction Packet Instruction = WRITE_DATA, Address = 0x04, DATA = 0x01
Communication
->[Dynamixel]:FF FF 00 04 03 04 01 F3 (LEN:008)
<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 9 Reset Return Delay Time of Dynamixel with ID=0 to 4us.
A Return Delay Time Value of 1 corresponds to 2us.
Instruction Packet Instruction = WRITE_DATA, Address = 0x05, DATA = 0x02