Robotis DX-116 - Manual (Page 21)

20
English Translation by: Tribotix Pty Ltd
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DYNAMIXEL DX-116
Broadcasting ID (0xFE).
Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6`
ID LENGTH INSTRUCTION PARAMETERS CHECKSUM
Because it was transmitted by Broadcast ID(0XFE), no return status packet.
4-2. READ_DATA
Function Read data from the Control Table of Dynamixel.
Length 0X04
Instruction 0X02
Parameter1 Starting Address of Data to Read
Parameter2 length of Data to Read
Example 2 Read the internal temperature of the Dynamixel with ID=1.
Read 1 byte from the Address 0x2B values of the Control Table.
Instruction Packet : 0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC`
ID LENGTH INSTRUCTION PARAMETERS .. CHECKSUM
The returned Status Packet will be as follows.
Status Packet : 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB
ID LENGTH ERROR PARAMETER1 CHECKSUM
The value read is 0x20.The current Dynamixel’s internal temperature is
approximately 32℃ (0X20).
4-3. REG_WRITE and ACTION
REG_WRITE