Axis Communications AX-12 Contents

DYNAMIXEL AX-12

Contents

1. Summary

1-1. Overview and Characteristics of AX-12 Page 2

1-2. Main Specifications Page 3

2. Dynamixel Operation

2-1. Mechanical Assembly Page 4

2-2. Connector Assembly Page 5

2-3. Dynamixel Wiring Page 6

3. Communication Protocol

3-1. Communication Overview Page 9

3-2. Instruction Packet Page 10

3-3. Status Packet Page 10

3-4. Control Table Page 12

4. Instruction Set and Examples

4-1. WRITE_DATA Page 19

4-2. READ_DATA Page 20

4-3. REG WRITE and ACTION Page 20

4-4. PING Page 21

4-5. RESET Page 22

4-6. SYNCWRITE Page 23

5. Example

Page 24

Appendix

Page 30

1

Contents

Main A Dynamixel X-12 DYNAMIXEL AX-12 Contents Appendix 5. Example 1. Summary 2. Dynamixel Operation 1. Dynamixel AX-12 1-1. Overview and Characteristics of AX-12 1-2. Main Specifications 2. Dynamixel Operation 2-1. Mechanical Assembly 2-2 . Connector Assembly 2-3. Dynamixel Wiring CM-5 internal circuit (HALF DUPLEX UART) 9.6V VDD(PIN2) GND GND(PIN1) 74HC126 Main Controlle 8 r 3. Communication Protocol 3-1. Communication Overview r Main Controlle r 3-2. Instruction Packet 3-3. Status Packet(Return Packet) DYNAMIXEL AX-12 3-4. Control Tabl e Page Page Page Page Page Page 4. Instruction Set and Examples 4-2. READ_DATA 4-3. REG_WRITE ACTION 4-3-1. REG_WRITE 4-3-2. ACTION 4-4. PING 4-5. RESET 4-6. SYNC WRITE 23 Data for the 1st Dynamixel actuator Data for the 2nd Dynamixel actuator 5. Example Page Page Page Page Page Appendix