- ROBOTIS Dynamixel RX-28 User's Manual

DYNAMIXEL

RX-28

5. Example

For the following examples, we assume a Dynamixel actuator with an ID of 1 in Reset

status and that the Baud rate is 57142 BPS.

Example 6 Reading the Model Number and Firmware Version of the Dynamixel actuator with

an ID of 1

Instruction Packet Instruction = READ_DATA, Address = 0x00, Length = 0x03

Communication ->[Dynamixel]:FF FF 01 04 02 00 03 F5 (LEN:008)

<-[Dynamixel]:FF FF 01 05 00 1C

00 08 D5 (LEN:009)

Status Packet Result

Model Number = 28 (0x1C) (for the case of RX-28) Firmware Version = 0x08

Example 7

Changing the ID to 0 for a Dynamixel actuator with an ID of 1

Instruction Packet Instruction = WRITE_DATA, Address = 0x03, DATA = 0x00

Communication ->[Dynamixel]:FF FF 01 04 03 03 00 F4 (LEN:008)

<-[Dynamixel]:FF FF 01 02 00 FC (LEN:006)

Status Packet Result NO ERROR

Example 8

Changing the Baud Rate of a Dynamixel actuator to 1M bps

Instruction Packet Instruction = WRITE_DATA, Address = 0x04, DATA = 0x01

Communication ->[Dynamixel]:FF FF 00 04 03 04 01 F3 (LEN:008)

<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)

Status Packet Result

NO ERROR

Example 9

Resetting the Return Delay Time to 4 uSec for a Dynamixel actuator with an ID of

A Return Delay Time Value of 1 corresponds to 2uSec.