Axis Dynamixel AX-12 Manual de usuario descargar pdf (Pagina 10)

DYNAMIXEL

AX-12

3. Communication Protocol

3-1. Communication Overview

Packet The main controller communicates with the Dynamixel units by sending and receiving

data packets. There are two types of packets; the “Instruction Packet” (sent from the

main controller to the Dynamixel actuators) and the “Status Packet” (sent from the

Dynamixel actuators to the 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 unit with this ID value will return its respective status

packet and perform the required instruction.

Unique ID If multiple Dynamixel units have the same ID value, multiple packets sent

simultaneously collide, resulting in communication problems. Thus, it is imperative that

no Dynamixel units share the same ID in a network node.

Protocol The Dynamixel actuators communicate through asynchronous serial communication

with 8 bit, 1 stop bit and no parity.

Instruction Packet

Main

Controlle

Status Packet

ID=0 ID=1 ID=N

Main

Controlle

Instruction Packet(ID=N)

Status Packet(ID=N)

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Axis Dynamixel AX-12 Manual de usuario Pagina 10