- Axis Communication Dynamixel AX-12 User's Manual

DYNAMIXEL
AX-12
4. Instruction Set and Examples
The following Instructions are available.
Instruction Function Value
Number of
Parameter
PING No action. Used for obtaining a Status Packet 0x01 0
READ DATA Reading values in the Control Table 0x02 2
WRITE DATA Writing values to the Control Table 0x03 2 ~
REG WRITE
Similar to WRITE_DATA, but stays in standby
mode until the ACION instruction is given
0x04 2 ~
ACTION
Triggers the action registered by the
REG_WRITE instruction
0x05 0
RESET
Changes the control table values of the
Dynamixel actuator to the Factory Default Value
settings
0x06 0
SYNC WRITE
Used for controlling many Dynamixel actuators
at the same time
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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