RX-64
3-2. Instruction Packet
Instruction Packet is command data that Main Controller sends to RX-64. The structure
of Instruction Packet is as follows:
OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK SUM
The meaning of each byte composing packet is as follows:
0XFF 0XFF
This signal notifies the beginning of the packet
ID
It is the ID of RX-64 which will receive Instruction Packet. It can use 254 IDs from 0 to
253 (0X00~0XFD).
Note
Broadcasting ID : ID = 254 (0XFE)
If Broadcast ID is used, all linked RX-64s execute command of
Instruction Packet, and Status Packet is not returned.
LENGTH
It is the length of the packet. The length is calculated as “the number of Parameters (N)
+ 2”.
INSTRUCTION
This command gives an instruction to RX-64 and has the following types.
Value
Name
Function
No. of
Parameters
0x01
PING
No execution. It is used when controller is ready to
recevie Status Packet
0
0x02
READ DATA
This command reads data from RX-64
2
0x03
WRITE DATA This command writes data to RX-64
2 or more
0x04
REG WRITE
It is similar to WRTE_DATA, but it remains in the
standby state without being executed until the
ACTION command arrives.
2 or more
0x05
ACTION
This command initiates motions registered with REG
WRITE
0
0x06
RESET
This command restores the state of RX-64 to the
factory default setting.
0
0x83
SYNC WRITE
This command is used to control several RX-64s
simultaneously at a time.
4 or more
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