Axis Dynamixel AX-12 Manual de usuario descargar pdf (Pagina 23)

DYNAMIXEL

AX-12

Example 3

Obtaining the status packet of the Dynamixel actuator with an ID of 1

Instruction Packet : 0XFF 0XFF 0X01 0X02 0X01 0XFB`

ID LENGTH INSTRUCTION CHECKSUM

The returned Status Packet is as the following

Status Packet : 0XFF 0XFF 0X01 0X02 0X00 0XFC

ID LENGTH ERROR CHECKSUM

Regardless of whether the Broadcasting ID is used or the Status Return Level (Address

16) is 0, a Status Packet is always returned by the PING instruction.

4-5. RESET

Function Changes the control table values of the Dynamixel actuator to the Factory Default Value

settings

Length 0X02

Instruction 0X06

Parameter NONE

Example 4

Resetting the Dynamixel actuator with an ID of 0

Instruction Packet : 0XFF 0XFF 0X00 0X02 0X06 0XF7`

ID LENGTH INSTRUCTION CHECKSUM

The returned Status Packet is as the following

Status Packet : 0XFF 0XFF 0X00 0X02 0X00 0XFD

ID LENGTH ERROR CHECKSUM

Note the ID of this Dynamixel actuator is now changed to 1 after the RESET instruction.

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Axis Dynamixel AX-12 Manual de usuario Pagina 23