- ROBOTIS Dynamixel RX-28 User's Manual

DYNAMIXEL

RX-28

4-3. REG_WRITE과 ACTION

4-3-1. REG_WRITE

Function The REG_WRITE instruction is similar to the WRITE_DATA instruction, but the

execution timing is different. When the Instruction Packet is received the values are

stored in the Buffer and the Write instruction is under a standby status. At this time, the

Registered Instruction register (Address 0x2C) is set to 1. After the Action Instruction

Packet is received, the registered Write instruction is finally executed.

Length N+3 (N is the number of data to be written)

Instruction 0X04

Parameter1

Starting address of the location where the data is to be written

Parameter2 1st data to be written

Parameter3 2nd data to be written

Parameter N+1 Nth data to be written

4-3-2. ACTION

Function

Triggers the action registered by the REG_WRITE instruction

Length 0X02

Instruction 0X05

Parameter

NONE

The ACTION instruction is useful when multiple Dynamixel actuators need to move

simultaneously. When controlling multiple Dynamixel actuator units, slight time delays

can occur between the 1st and last units to receive an instruction. The Dynamixel

actuator handles this problem by using the ACTION instruction.

Broadcasting The Broadcast ID (0XFE) is used when sending ACTION instructions to more than two

Dynamixel actuators. Note that no packets are returned by this operation.