Axis Dynamixel AX-12 Manual do Utilizador descarregar pdf (Página 30)

DYNAMIXEL

AX-12

Example 20

Lock all addresses except for Address 0x18 ~ Address0x23 for a Dynamixel

actuator with an ID of 0

Set Address 0x2F (Lock) to 1.

Instruction Packet Instruction = WRITE_DATA, Address = 0x2F, DATA = 0x01

Communication ->[Dynamixel]:FF FF 00 04 03 2F

01 C8 (LEN:008)

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

Status Packet Result NO ERROR

Once locked, the only way to unlock it is to remove the power.

If an attempt is made to access any locked data, an error is returned.

->[Dynamixel]:FF FF 00 05 03 30 40 00 87 (LEN:009)

<-[Dynamixel]:FF FF 00 02 08 F5 (LEN:006)

Range Error

Example 21

Set the minimum power (Punch) to 0x40 for a Dynamixel actuator with an ID of 0

Instruction Packet Instruction = WRITE_DATA, Address = 0x30, DATA = 0x40, 0x00

Communication ->[Dynamixel]:FF FF 00 05 03 30

40 00 87 (LEN:009)

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

Status Packet Result NO ERROR

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Axis Dynamixel AX-12 Manual do Utilizador Página 30