RX-64
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3-3. Status Packet (Return Packet)
RX-64 executes command received from the Main controller and returns the result to
the Main Controller. The returned data is called Status Packet. The structure of Status
Packet is as follows:
OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N
CHECK SUM
Each byte composing the packet means as below.
0XFF 0XFF
This signal notifies the beginning of the packet.
ID
It is the ID of RX-64 which transfers Status Packet.
LENGTH
It is the length of Status Packet, the value of which is“the number of Parameters (N) + 2”.
ERROR
It displays the error status occurred during the operatio of RX-64. The meaning of each
bit is described in the below table.
Bit
Name
Contents
Bit 7
0
-
Bit 6 Instruction Error
In case of sending an undefined instruction or delivering
the action command without the reg_write command, it is
set as 1.
Bit 5 Overload Error
When the curren load cannot be controlled by the set
Torque, it is set as 1.
Bit 4 Checksum Error
When the Checksum of the transmitted Instruction
Packet is incorrect, it is set as 1.
Bit 3 Range Error
When a command is out of the range for use, it is set as
1
Bit 2 Overheating Error
When internal temperature of Dynamixel is out of the
range of operating temperature set in the Control table, it
is set as 1.
Bit 1 Angle Limit Error
When Goal Position is written out of the range from CW
Angle Limit to CCW Angle Limit , it is set as 1.
Bit 0 Input Voltage Error
When the applied voltage is out of the range of operating
voltage set in the Control table, it is as 1.
