Robotis Dynamixel DX-117 - Manual (Page 9)

8
DYNAMIXEL DX-Series
3. Communication Protocol
3-1. Communication Overview
Packet The Main Controller communicates with the Dynamixel by sending and receiving data
packets. There are two types of packets, the Instruction Packet (Main Controller to
Dynamixel) and the Status Packet. (Dynamixel to Main Controller)
Communication For the system connection below, if the main controller sends an instruction packet with
the ID set to N, only the Dynamixel with this ID value will return its respective status
packet and perform the required instruction.
Unique ID Communication problems will arise if multiple Dynamixel's have the same ID value. This
will cause multiple packets to be sent simultaneously resulting in packet collisions. It is
imperative that ID values are unique within each data network.
Protocol The Asynchronous Serial Communication word consists of 8 bits, 1 Stop bit and
no parity.
Instruction Packet
Status Packet
Main
Controller
ID=0 ID=1 ID=N
Main
Controller
Instruction Packet(ID=N)
Status Packet(ID=N)