Robotis Dynamixel RX-28, Руководство пользователя

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DYNAMIXEL RX-28
4. Instruction Set and Examples
The following Instructions are available.
Instruction Function Value
Num ber of
Param eter
PING No action. Used for obtaining a Status Packet 0x01 0
READ DATA Reading values in the Control Table 0x02 2
W RITE DATA W riting values to the Control Table 0x03 2 ~
REG W RITE
Sim ilar to W RITE_DATA, but stays in standby
m ode until the ACION instruction is given
0x04 2 ~
ACTIO N
Triggers the action registered by the
REG _W RITE instruction
0x05 0
RESET
Changes the control table values of the
Dynam ixel actuator to the Factory Default Value
settings
0x06 0
SYNC W RITE
Used for controlling m any Dynam ixel actuators
at the sam e tim e
0x83 4~
4-1. WRITE_DATA
Function To write data into the control table of the Dynamixel actuator
Length N+3 (N is the number of data to be written)
Instruction 0X03
Parameter1 Starting address of the location where the data is to be written
Parameter2 1st data to be written
Parameter3 2nd data to be written
Parameter N+1 Nth data to be written
Example 1 Setting the ID of a connected Dynamixel actuator to 1
Write 1 to address 3 of the control table. The ID is transmitted using the Broadcasting ID
(0xFE).
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