Owner manual

30
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL
DX-116
TXD_SHIFT_REGISTER_EMPTY_BIT.
An example program to send an Instruction packet:-
LINE 1 PORT_485_DIRECTION = TX_DIRECTION;
LINE 2 TxDByte(0xff);
LINE 3 TxDByte(0xff);
LINE 4 TxDByte(bID);
LINE 5 TxDByte(bLength);
LINE 6 TxDByte(bInstruction);
LINE 7 TxDByte(Parameter0); TxDByte(Parameter1); …
LINE 8 DisableInterrupt(); // interrupt should be disabled
LINE 9 TxDByte(Checksum); //last TxD
LINE 10 while(!TXD_SHIFT_REGISTER_EMPTY_BIT); //Wait till last data bit has been
sent
LINE 11 PORT_485_DIRECTION = RX_DIRECTION; //485 direction changed to RXD
LINE 12 EnableInterrupt(); // enable interrupt again
Please note the important lines (LINE 8 to LINE12).
Line 8 is necessary since an interrupt here may cause a delay longer than the
return delay time and corruption to the front of the status packet may occur
Byte to Byte Time The delay time between bytes when sending the instruction packet. If the delay
time is over 100ms, then recognise it as a communication problem and wait for
header(0xff 0xff) of the packet again.
0xFF 0xFF ID
Len
g
th
Byte To Byte Time