Axis-communications Dynamixel AX-12 Manual de usuario Pagina 24
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DYNAMIXEL
AX-12
4-6. SYNC WRITE
Function Used for controlling many Dynamixel actuators at the same time. The communication
time decreases by the Synch Write instruction since many instructions can be
transmitted by a single instruction. However, you can use this instruction only when the
lengths and addresses of the control table to be written to are the same. Also, the
broadcasting ID needs to be used for transmitting.
ID 0XFE
Length (L + 1) * N + 4 (L: Data length for each Dynamixel actuator, N: The number of Dynamixel
actuators)
Instruction 0X83
Parameter1 Starting address of the location where the data is to be written
Parameter2 The length of the data to be written (L)
Parameter3 The ID of the 1st Dynamixel actuator
Parameter4 The 1st data for the 1st Dynamixel actuator
Parameter5 The 2nd data for the 1st Dynamixel actuator
Data for the 1st Dynamixel actuator
…
Parameter L+3 The Lth data for the 1st Dynamixel actuator
Parameter L+4 The ID of the 2nd Dynamixel actuator
Parameter L+5 The 1st data for the 2nd Dynamixel actuator
Data for the 2nd Dynamixel actuator
Parameter L+6 The 2nd data for the 2nd Dynamixel actuator
…
Parameter 2L+4 The Lth data for the 2nd Dynamixel actuator
….
Example 5
Setting the following positions and velocities for 4 Dynamixel actuators
Dynamixel actuator with an ID of 0: to position 0X010 with a speed of 0X150
Dynamixel actuator with an ID of 1: to position 0X220 with a speed of 0X360
Dynamixel actuator with an ID of 2: to position 0X030 with a speed of 0X170
Dynamixel actuator with an ID of 0: to position 0X220 with a speed of 0X380
Instruction Packet : 0XFF 0XFF 0XFE 0X18 0X83 0X1E 0X04 0X00 0X10 0X00 0X50
0X01 0X01 0X20 0X02 0X60 0X03 0X02 0X30 0X00 0X70 0X01 0X03 0X20 0X02 0X80
0X03 0X12
No status packets are returned since the Broadcasting ID was used.
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