RX-64
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3-1. Overview of Communication
To control RX-64, communication should be established according to the protocol of RX-
64. RX-64 is driven by receiving binary data. Examples of programs for the transmission
of this kind of data are described in detail in the User’s Manual of the Dynamixel-only
controller or the USB2Dynamixel.
Thus, this manual describes only the method and protocol of communication used in
RX-64 on the assumption that Main Controller can transfer binary data.
Packet
Main Controller and R-64 communicate each other by sending and receiving data called
Packet. Packet has two kinds: Instruction Packet, which Main Controller sends to control
RX-64, and Status Packet, which RX-64 responses to Main Controller.
Role of ID
ID is a specific number for distinction of each RX-64 when several RX-64s are linked to
one bus. By giving IDs to Instruction and Status Packets, Main Controller can control
only the RX-64 that you want to control
Protocol
RX-64 does the Asynchronous Serial Communication with 8 bit, 1 Stop bit, and None
Parity.
Instruction Packet
Status Packet
Main
Controller
Caution
If RX-64 with the same ID is connected, packet will collide and network
problem will occur. Thus, set ID as such that there is no RX-64 with the
same ID.
Note
ID of RX-64 is changeable.
For this change, please refer to ‘Changing IDs of Ex.2 and Ex.7’. The
factory default setting ID is 1.
