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Introduction
- DYNAMIXEL Protocol 2.0 supported devices: MX-28, MX-64, MX-106, X Series (2X Series included), PRO Series, P Series.
- DYNAMIXEL Protocol 2.0 supported controllers: CM-50, CM-150, CM-200, OpenCM7.0, OpenCM9.04, CM-550, OpenCR
- Other: 2.0 protocol from R+ Smart app, DYNAMIXEL Wizard 2.0
TIP : See DYNAMIXEL Protocol Compatibility Table.
Note: MX(2.0) is a special firmware for the DYNAMIXEL MX series supporting the DYNAMIXEL Protocol 2.0. The MX(2.0) firmware can be upgraded from the Protocol 1.0 by using the Firmware Recovery in DYNAMIXEL Wizard 2.0.
Instruction Packet
Instruction Packet is the command packet sent to the Device.
| Header 1 | Header 2 | Header 3 | Reserved | Packet ID | Length 1 | Length 2 | Instruction | Param | Param | Param | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | ID | Len_L | Len_H | Instruction | Param 1 | … | Param N | CRC_L | CRC_H |
Header
The field that indicates the start of the Packet
Reserved
Uses 0X00 (Note that Reserved does not use 0XFD). The Reserved functions the same as Header.
See the next image of a table of the Packet Details of the DYNAMIXEL Wizard 2.0, which shows that the Reserved (0x00) are included in the Header field.
A table of Packet Details of DYNAMIXEL Wizard 2.0
Packet ID
The field that indicates an ID of the device that should receive the Instruction Packet and process it
- Range : 0 ~ 252 (0x00 ~ 0xFC), which is a total of 253 numbers that can be used
- Broadcast ID : 254 (0xFE), which makes all connected devices execute the Instruction Packet
WARNING: Be sure that Broadcast ID(254 (0xFE)) return Status Packet for Ping, Sync Read and Bulk Read only, other [Instruction] aside from Ping, Sync Read and Bulk Read will not return Status Packet to Broadcast ID.
Length
The field that indicates the length of packet field.
- Devided into low and high bytes in the Instruction Packet
- The Length indicates the Byte size of Instruction, Parameters and CRC fields
Length = the number of Parameters + 3- Status Packet includes 1 byte length ERROR field’s data.
Instruction
The field that defines the type of commands.
| Value | Instructions | Description |
|---|---|---|
| 0x01 | Ping | Instruction that checks whether the Packet has arrived to a device with the same ID as Packet ID |
| 0x02 | Read | Instruction to read data from the Device |
| 0x03 | Write | Instruction to write data on the Device |
| 0x04 | Reg Write | Instruction that registers the Instruction Packet to a standby status; Packet is later executed through the Action command |
| 0x05 | Action | Instruction that executes the Packet that was registered beforehand using Reg Write |
| 0x06 | Factory Reset | Instruction that resets the Control Table to its initial factory default settings |
| 0x08 | Reboot | Instruction to reboot the Device |
| 0x10 | Clear | Instruction to reset certain information |
| 0x20 | Control Table Backup | Instruction to store current Control Table status data to a Backup area or to restore EEPROM data. |
| 0x55 | Status(Return) | Return packet for the Instruction Packet |
| 0x82 | Sync Read | For multiple devices, Instruction to read data from the same Address with the same length at once |
| 0x83 | Sync Write | For multiple devices, Instruction to write data on the same Address with the same length at once |
| 0x8A | Fast Sync Read | For multiple devices, Instruction to read data from the same Address with the same length at once |
| 0x92 | Bulk Read | For multiple devices, Instruction to read data from different Addresses with different lengths at once |
| 0x93 | Bulk Write | For multiple devices, Instruction to write data on different Addresses with different lengths at once |
| 0x9A | Fast Bulk Read | For multiple devices, Instruction to read data from different Addresses with different lengths at once |
Parameters
- As the auxiliary data field for Instruction, its purpose is different for each Instruction.
- Method of expressing negative number data : This is different for each product, so please refer to the e-manual of the corresponding product.
CRC
16bit CRC field which checks if the Packet has been damaged during communication.
- Devided into low and high bytes in the Instruction Packet
- Range of CRC calculation: From Header (FF FF FD 00) to Parameteres before CRC field in Instruction Packet
- Calculating CRC and examples: CRC Calculation
Status Packet
Status Packet is the response packet transmitted from the device to a main controller. Note that it has the same construction as the Instruction Packet except the ERROR field is added.
| Header 1 | Header 2 | Header 3 | Reserved | Packet ID | Length 1 | Length 2 | Instruction | ERR | PARAM | PARAM | PARAM | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | ID | Len_L | Len_H | Instruction | Error | Param 1 | … | Param N | CRC_L | CRC_H |
Instruction
Instruction of the Status Packet is designated to 0x55 (Status)
Error
The field that indicates the processing result of Instruction Packet
| Bit 7 | Bit 6 ~ Bit 0 |
|---|---|
| Alert | Error Number |
- Alert : When there is some hard ware issue with the Device, this field is set as 1. Checking the Hardware error status value of the Control Table can indicate the cause of the problem.
- Error Number : When there has been an Error in the processing of the Instruction Packet.
| Error Number | Error | Description |
|---|---|---|
| 0x01 | Result Fail | Failed to process the sent Instruction Packet |
| 0x02 | Instruction Error | Undefined Instruction has been used Action has been used without Reg Write |
| 0x03 | CRC Error | CRC of the sent Packet does not match |
| 0x04 | Data Range Error | Data to be written in the corresponding Address is outside the range of the minimum/maximum value |
| 0x05 | Data Length Error | Attempt to write Data that is shorter than the data length of the corresponding Address (ex: when you attempt to only use 2 bytes of a item that has been defined as 4 bytes) |
| 0x06 | Data Limit Error | Data to be written in the corresponding Address is outside of the Limit value |
| 0x07 | Access Error | Attempt to write a value in an Address that is Read Only or has not been defined Attempt to read a value in an Address that is Write Only or has not been defined Attempt to write a value in the ROM domain while in a state of Torque Enable(ROM Lock) |
Parameters
- As the auxiliary data field for Instruction, its purpose is different for each Instruction.
- Method of expressing negative number data : This is different for each product, so please refer to the e-manual of the corresponding product
Response Policy
- Broadcast ID(254 (0xFE)) is responded to Ping, Sync Read and Bulk Read only. For instance, Broadcast ID is not responded to Sync Write and Bulk Write Instruction.
- A response to Instruction can be determined depending on a value of Status Return Level in Control Table. For more details, see the selectable value from Status Return Level in Control Table of the DYNAMIXEL in use.
Packet Process
Processing Order of Transmission
- Generate basic form of Packet and afterwards Byte Stuffing(0xFD)
- Inspection range : Everything within the Instruction field to the Parameter field (not the CRC)
- Processing method : When the pattern “0xFF 0xFF 0xFD” appears, add Byte Stuffing (0xFD) (If “0xFF 0xFF 0xFD” already exists, add a 0xFD to change it to “0xFF 0xFF 0xFD 0xFD”)
- Length : Modify to Length with Byte Stuffing applied
- CRC : Calculate CRC with Byte Stuffing applied
Processing Order of Reception
- Search for Header(0xFF 0xFF 0xFD) : Ignore the Byte Stuffing(“0xFF 0xFF 0xFD 0xFD”).
- Packet ID : If Packet ID is valid, receive additional transmission the size of Length
- CRC : Calculate with the received Packet with Byte Stuffing included, and once CRC is matched then remove Byte Stuffing
Instruction Details
Note that given examples use the following abbreviation to provide clear information.
- Header : H
- Reserved: RSRV
- Length: LEN
- Instruction: INST
- Error: ERR
- Param: P
Ping (0x01)
Description
- Instruction to check the existence of a Device and basic information
- Regardless of the Status Return Level of the Device, the Status Packet is always sent to Ping Instruction.
- When the Packet ID field is 0xFE(Broadcast ID) : All devices send their Status Packet according to their arranged order.
Packet Parameters
Note : Status Packet is received from each Device.
| Status Packet | Description |
|---|---|
| Parameter 1 | Model Number LSB |
| Parameter 2 | Model Number MSB |
| Parameter 3 | Version of Firmware |
Example 1
Conditions
- ID1(XM430-W210) : For Model Number 1030(0x0406), Version of Firmware 38(0x26)
- Instruction Packet ID : 1
Ping Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x03 | 0x00 | 0x01 | 0x19 | 0x4E |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | P2 | P3 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x07 | 0x00 | 0x55 | 0x00 | 0x06 | 0x04 | 0x26 | 0x65 | 0x5D |
Example 2
Conditions
- ID1(XM430-W210) : For Model Number 1030(0x0406), Version of Firmware 38(0x26)
- ID2(XM430-W210) : For Model Number 1030(0x0406), Version of Firmware 38(0x26)
- Instruction Packet ID : 254(Broadcast ID)
Ping Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x03 | 0x00 | 0x01 | 0x31 | 0x42 |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | P2 | P3 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x07 | 0x00 | 0x55 | 0x00 | 0x06 | 0x04 | 0x26 | 0x65 | 0x5D |
ID 2 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | P2 | P3 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x02 | 0x07 | 0x00 | 0x55 | 0x00 | 0x06 | 0x04 | 0x26 | 0x6F | 0x6D |
Read (0x02)
Description
- Instruction to read a value from Control Table
- Method of expressing negative number data : This is different for each product, so please refer to the e-manual of the corresponding product
- Read Instruction does not respond to Broadcast ID(254 (0xFE))
Note: If requesting the response for the excess range of its Control Table, the Status packet will fill Access Error in its error field, and return the packet with no parameters.
Packet Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | Low-order byte from the starting address |
| Parameter 2 | High-order byte from the starting address |
| Parameter 3 | Low-order byte from the data length (X) |
| Parameter 4 | High-order byte from the data length (X) |
| Status Packet | Description |
|---|---|
| Parameter 1 | First Byte |
| Parameter 2 | Second Byte |
| … | … |
| Parameter X | X-th Byte |
Example
Conditions
- ID1(XM430-W210) : Present Position(132, 0x0084, 4[byte]) = 166(0x000000A6)
Read Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x07 | 0x00 | 0x02 | 0x84 | 0x00 | 0x04 | 0x00 | 0x1D | 0x15 |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | P2 | P3 | P4 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x08 | 0x00 | 0x55 | 0x00 | 0xA6 | 0x00 | 0x00 | 0x00 | 0x8C | 0xC0 |
Write (0x03)
Description
- Instruction to write a value on the Control Table
- Method of expressing negative number data : This is different for each product, so please refer to the e-manual of the corresponding product
Packet Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | Low-order byte from the starting address |
| Parameter 2 | High-order byte from the starting address |
| Parameter 2+1 | First Byte |
| Parameter 2+2 | Second Byte |
| … | … |
| Parameter 2+X | X-th Byte |
Example
Conditions
- ID1(XM430-W210) : Write 512(0x00000200) to Goal Position(116, 0x0074, 4[byte])
Write Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | P6 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x09 | 0x00 | 0x03 | 0x74 | 0x00 | 0x00 | 0x02 | 0x00 | 0x00 | 0xCA | 0x89 |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Reg Write (0x04)
Description
- Instruction that is similar to Write Instruction, but has an improved synchronization characteristic
- Write Instruction is executed immediately when an Instruction Packet is received.
- By using Reg Write and Action Instruction, one can operate multiple devices simultaneously.
- Reg Write Instruction registers the Instruction Packet to a standby status, and sets Control table Registered Instruction to ‘1’.
- When an Action Instruction is received, the registered Packet is executed, and sets Control Table Registered Instruction to ‘0’.
Packet Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | Low-order byte from the starting address |
| Parameter 2 | High-order byte from the starting address |
| Parameter 2+1 | First Byte |
| Parameter 2+2 | Second Byte |
| … | … |
| Parameter 2+X | X-th Byte |
Example
Condition
- ID1(XM430-W210) : Write 200(0x000000C8) to Goal Velocity(104, 0x0068, 4[byte])
Reg Write Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | P6 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x09 | 0x00 | 0x04 | 0x68 | 0x00 | 0xC8 | 0x00 | 0x00 | 0x00 | 0xAE | 0x8E |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Action (0x05)
Description
- Instruction that executes the Packet that has been registered using Reg Write Instruction
- When controlling multiple devices using Write Instruction, there will be a difference in the time of execution between the first device that receives the Packet and the last device that receives the Packet.
- By using Reg Write and Action Instruction, one can operate multiple devices simultaneously.
Example
Condition
- ID1(XM430-W210) : Instruction has been already registered by the Reg Write Instruction.
Action Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x03 | 0x00 | 0x05 | 0x02 | 0xCE |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Factory Reset (0x06)
Description
- Instruction that resets the Control Table to its initial factory default settings.
- When Factory Reset (0x06) Instruction is performed, a device is rebooted and the LED blinks four times in a row.
- In case of when Packet ID is a Broadcast ID
0xFEand Option is Reset All0xFF, Factory Reset Instruction(0x06) will NOT be activated.- This feature is applied from MX(2.0) FW42, X-series FW42 or above.
Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | 0xFF : Reset all 0x01 : Reset all except ID 0x02 : Reset all except ID and Baudrate |
Example
Conditions
- ID1(XM430-W210) : Apply reset with option 0x01(Reset all except ID)
Factory Reset Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x06 | 0x01 | 0xA1 | 0xE6 |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Reboot (0x08)
Description
- Instruction to reboot the device
Example
Conditions
- ID1(XM430-W210)
Reboot Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x03 | 0x00 | 0x08 | 0x2F | 0x4E |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Clear (0x10)
Description
- This instruction resets certain information of DYNAMIXEL
- Supported DYNAMIXEL : MX (2.0) with Fw v42 or above, DYNAMIXEL-X series with Fw v42 or above
Parameters
| P1 | P2 ~ P5 | Description |
|---|---|---|
| 0x01 | Fixed Values (0x44 0x58 0x4C 0x22) |
Reset the Present Position value to an absolute value within one rotation (0-4095). The Clear instruction can only be applied when DYNAMIXEL is stopped. Note that if DYNAMIXEL is in motion and the Clear Instruction packet is sent, Result Fail (0x01) will be sent via the Error field of the Status Packet. |
| 0x02 | - | Reserved |
| … | - | Reserved |
| 0xFF | - | Reserved |
Example
Conditions
- ID1(XM430-W210) : Resets multi turn revolution information
Clear Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x08 | 0x00 | 0x10 | 0x01 | 0x44 | 0x58 | 0x4C | 0x22 | 0xB1 | 0xDC |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Control Table Backup (0x20)
Description
- Instruction to store current Control Table status data to a Backup area, or to restore EEPROM data.
- The Control Table Backup works properly only if Torque Enable in RAM area is set as ‘0’ (Torque Off status). If the Torque Enable is set as ‘1’ (Torque On), Status Packet with Result Fail will be returned.
- Supported DYNAMIXEL: X430/540 Series(Fw v45 or above), X330 Series(Fw v46 or above), P Series(Fw v12 or above).
- Available items in Control Table for data backup:
- All Data in EERPOM
- Velocity P.I Gains
- Position P.I.D Gains
- Feedforward 1st & 2nd Gains
- Profile Acceleration
- Profile Velocity
- Indirect Addresses (Except DYNAMIXEL-P Series)
Note
- See Backup and Restore for more details.
- RAM area can be restored by configuring the Startup Configuration(60) address. Refer to the Restoring RAM Area for more information.
Parameters
| P1 | P2 ~ P5 | Description |
|---|---|---|
| 0x01 | Fixed Values (0x43 0x54 0x52 0x4C) |
Store current Control Table status data to a Backup area |
| 0x02 | Fixed Values (0x43 0x54 0x52 0x4C) |
Restore EEPROM data from Backup area. After processing packets, DYNAMIXEL reboots itself |
| 0x03 | - | Reserved |
| ⋯ | - | Reserved |
| 0xFF | - | Reserved |
Example
Example 1 Conditions
- ID 1(XC330-T288) : Backup the Control Table.
Control Table Backup Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x08 | 0x00 | 0x20 | 0x01 | 0x43 | 0x54 | 0x52 | 0x4C | 0x16 | 0xF5 |
ID1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Example 2 Conditions
- ID1(XC330-T288) : Restoring EEPROM data
- DYNAMIXEL will be rebooted after a successful restoration.
Control Table EEPROM Restoring Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x08 | 0x00 | 0x20 | 0x02 | 0x43 | 0x54 | 0x52 | 0x4C | 0x92 | 0xF5 |
ID1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x04 | 0x00 | 0x55 | 0x00 | 0xA1 | 0x0C |
Sync Read (0x82)
Description
- Instruction to read data from multiple devices simultaneously using one Instruction Packet
- The Address and Data Length of the data must all be the same.
- If the Address of the data is not continual, an Indirect Address can be used.
- Status Packet will be returned in order, according to input ID in the Instruction Packet.
- Packet ID field : 0xFE (Broadcast ID)
Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | Low-order byte from the starting address |
| Parameter 2 | High-order byte from the starting address |
| Parameter 3 | Low-order byte from the data length(X) |
| Parameter 4 | High-order byte from the data length(X) |
| Parameter 4+1 | ID of the 1st Device |
| Parameter 4+2 | ID of the 2nd Device |
| … | … |
| Parameter 4+X | ID of the X-th Device |
| Status Packet | Description |
|---|---|
| Parameter 1 | Frist Byte |
| Parameter 2 | Second Byte |
| … | … |
| Parameter X | X-th Byte |
Note : Each device individually returns Status Packet for Sync Read instruction.
Example
Conditions
- ID1(XM430-W210) : Present Position(132, 0x0084, 4[byte]) = 166(0x000000A6)
- ID2(XM430-W210) : Present Position(132, 0x0084, 4[byte]) = 2,079(0x0000081F)
Sync Read Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | P6 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x09 | 0x00 | 0x82 | 0x84 | 0x00 | 0x04 | 0x00 | 0x01 | 0x02 | 0xCE | 0xFA |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | P2 | P3 | P4 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x08 | 0x00 | 0x55 | 0x00 | 0xA6 | 0x00 | 0x00 | 0x00 | 0x8C | 0xC0 |
ID 2 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | P2 | P3 | P4 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x02 | 0x08 | 0x00 | 0x55 | 0x00 | 0x1F | 0x08 | 0x00 | 0x00 | 0xBA | 0xBE |
Sync Write (0x83)
Description
- Instruction to control multiple devices simultaneously using one Instruction Packet
- The Address and Data Length of the data must all be the same.
- If the Address of the data is not continual, an Indirect Address can be used.
- Packet ID field : 0xFE (Broadcast ID)
Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | Low-order byte from the starting address |
| Parameter 2 | High-order byte from the starting address |
| Parameter 3 | Low-order byte from the data length(X) |
| Parameter 4 | High-order byte from the data length(X) |
| Parameter 5 | [1st Device] ID |
| Parameter 5+1 | [1st Device] 1st Byte |
| Parameter 5+2 | [1st Device] 2nd Byte |
| … | [1st Device]… |
| Parameter 5+X | [1st Device] X-th Byte |
| Parameter 6 | [2nd Device] ID |
| Parameter 6+1 | [2nd Device] 1st Byte |
| Parameter 6+2 | [2nd Device] 2nd Byte |
| … | [2nd Device]… |
| Parameter 6+X | [2nd Device] X-th Byte |
| … | … |
Example
Conditions
- ID1(XM430-W210) : Write 150(0x00000096) to Goal Position(116, 0x0074, 4[byte])
- ID2(XM430-W210) : Write 170(0x000000AA) to Goal Position(116, 0x0074, 4[byte])
Sync Write Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 |
|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x11 | 0x00 | 0x83 | 0x74 | 0x00 | 0x04 | 0x00 |
| P5 | P6 | P7 | P8 | P9 | P10 | P11 | P12 | P13 | P14 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x01 | 0x96 | 0x00 | 0x00 | 0x00 | 0x02 | 0xAA | 0x00 | 0x00 | 0x00 | 0x82 | 0x87 |
Fast Sync Read (0x8A)
Description
- Enhanced Instruction for faster communication compared to Sync Read
- One Status Packet is structured and returned for all DYNAMIXELs if using Fast Sync Read Instruction regardless of number of DYNAMIXELs chained, as if one DYNAMIXEL returns Status Packet.
- Instruction Packet is formatted in the same way as Sync Read
- Supported DYNAMIXEL:
- X430/540 Series (Fw v45 or above, 2XL/2XC Not Supported)
- X330 (Fw v46 or above)
- P Series (Fw v12 or above)
- RH-P12-RN(A) (Fw v13 or above)
Note: DYNAMIXEL Tips | Use Fast Sync and Fast Bulk Read Instruction for Speedy Communication
Parameter
| Instruction Packet | Description |
|---|---|
| Parameter 1 | Low-order byte from the starting address |
| Parameter 2 | High-order byte from the starting address |
| Parameter 3 | Low-order byte from the data length(X) |
| Parameter 4 | High-order byte from the data length(X) |
| Parameter 4+1 | 1st Device ID |
| Parameter 4+2 | 2nd Device ID |
| ⋯ | ⋯ |
| Parameter 4+n | Nnd Device ID |
| Status Packet | Description |
|---|---|
| Parameter 1 | 1st Device ID |
| Parameter 2 | 1st Device First Byte |
| Parameter 3 | 1st Device Second Byte |
| ⋯ | ⋯ |
| Parameter X | 1st Device X-th Byte |
| Parameter X+1 | 1st Device Low-order byte from CRC |
| Parameter X+2 | 1st Device High-order byte from CRC |
| Parameter X+3 | 2nd Device Error |
| Parameter X+4 | 2nd Device ID |
| Parameter X+4+1 | 2nd Device First Byte |
| Parameter X+4+2 | 2nd Device Second Byte |
| ⋯ | ⋯ |
| Parameter 2X+4 | 2nd Device X-th Byte |
| Parameter 2X+4+1 | 2nd Device Low-order byte from CRC |
| Parameter 2X+4+2 | 2nd Device High-order byte from CRC |
| ⋯ | ⋯ |
| Parameter nX+4 | Nnd Device X-th Byte |
Note: CRC values are used for internal calculation in DYNAMIXEL to confirm packet integrity between DYNAMIXELs. You can let the main controller check CRC only at the end of Status Packet.
Note: Each device respectively returns a particular part of Status Packet in response to Fast Sync Read Instruction. For more details, see Example below.
Note: Fast Sync Read Status Packet does not perform Byte Stuffing(0xFD) process.
Example
Example Description
- ID3(XC330-T288) : Present Position(132, 0x0084, 4[byte]) = 166(0x000000A6)
- ID7(XC330-T288) : Present Position(132, 0x0084, 4[byte]) = 2,079(0x0000081F)
- ID4(XC330-T288) : Present Position(132, 0x0084, 4[byte]) = 1,023(0x000003FF)
Fast Sync Read Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | P6 | P7 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x0A | 0x00 | 0x8A | 0x84 | 0x00 | 0x04 | 0x00 | 0x03 | 0x07 | 0x04 | 0x20 | 0xF2 |
ID 3 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | ID1 | D1 | D2 | D3 | D4 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x19 | 0x00 | 0x55 | 0x00 | 0x03 | 0xA6 | 0x00 | 0x00 | 0x00 | 0x84 | 0x08 |
ID 7 Status Packet
| ERR | ID2 | D1 | D2 | D3 | D4 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|
| 0x00 | 0x07 | 0x1F | 0x08 | 0x00 | 0x00 | 0x16 | 0xCA |
ID 4 Status Packet
| ERR | ID3 | D1 | D2 | D3 | D4 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|
| 0x00 | 0x04 | 0xFF | 0x03 | 0x00 | 0x00 | 0xD1 | 0x9E |
Bulk Read (0x92)
Description
- Similar to Sync Read, this is an Instruction to read data from multiple devices simultaneously using one Instruction Packet
- This Instruction can be used even if the Address and Data Length of the data for each device are not all the same.
- The same ID cannot be used multiple times in the Parameter. In other words, it can only read once from each individual device.
- Status Packet will be returned in order, according to input ID in the Instruction Packet.
- If the Address of the data is not continual, an Indirect Address can be used.
- Packet ID field : 0xFE (Broadcast ID)
Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | [1st Device] ID |
| Parameter 2 | [1st Device] Low-order byte from the starting address |
| Parameter 3 | [1st Device] High-order byte from the starting address |
| Parameter 4 | [1st Device] Low-order byte from the data |
| Parameter 5 | [1st Device] High-order byte from the data |
| Parameter 6 | [2nd Device] ID |
| Parameter 7 | [2nd Device] Low-order byte from the starting address |
| Parameter 8 | [2nd Device] High-order byte from the starting address |
| Parameter 9 | [2nd Device] Low-order byte from the data |
| Parameter 10 | [2nd Device] High-order byte from the data |
| … | … |
| Status Packet | Description |
|---|---|
| Parameter 1 | 1st Byte |
| Parameter 2 | 2nd Byte |
| … | … |
| Parameter X | X-th Byte |
Note : Each device individually returns Status Packet for Bulk Read instruction. See the Example below for more details.
Example
Condition
- ID1(XM430-W210) : Present Voltage(144, 0x0090, 2[byte]) = 119(0x0077)
- ID2(XM430-W210) : Present Temperature(146, 0x0092, 1[byte]) = 36(0x24)
Bulk Read Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x0D | 0x00 | 0x92 | 0x01 | 0x90 | 0x00 | 0x02 | 0x00 |
| P6 | P7 | P8 | P9 | P10 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|
| 0x02 | 0x92 | 0x00 | 0x01 | 0x00 | 0x1A | 0x05 |
ID 1 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | P2 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x01 | 0x06 | 0x00 | 0x55 | 0x00 | 0x77 | 0x00 | 0xC3 | 0x69 |
ID 2 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | P1 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0x02 | 0x05 | 0x00 | 0x55 | 0x00 | 0x24 | 0x8B | 0xA9 |
Bulk Write (0x93)
Description
- Similar to Sync Write, this is an Instruction to control multiple devices simultaneously using one Instruction Packet
- This Instruction can be used even if the Address and Data Length of the data for each device are not all the same.
- The same ID cannot be used multiple times in the Parameter. In other words, it can only write once for each individual device.
- If the Address of the data is not continual, an Indirect Address can be used.
- Packet ID field : 0xFE (Broadcast ID)
Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | [1st Device] ID |
| Parameter 2 | [1st Device] Low-order byte from the starting address |
| Parameter 3 | [1st Device] High-order byte from the starting address |
| Parameter 4 | [1st Device] Low-order byte from the data length(X) |
| Parameter 5 | [1st Device] High-order byte from the data length(X) |
| Parameter 5+1 | [1st Device] 1st Byte |
| Parameter 5+2 | [1st Device] 2nd Byte |
| … | … |
| Parameter 5+X | [1st Device] X-th Byte |
| Parameter 6+X | [2nd Device] ID |
| Parameter 7+X | [2nd Device] Low-order byte from the starting address |
| Parameter 8+X | [2nd Device] High-order byte from the starting address |
| Parameter 9+X | [2nd Device] Low-order byte from the data length(X) |
| Parameter 10+X | [2nd Device] High-order byte from the data length(X) |
| Parameter 10+X+1 | [2nd Device] 1st Byte |
| Parameter 10+X+2 | [2nd Device] 2nd Byte |
| … | … |
| Parameter 10+X+Y | [2nd Device] Y-th Byte |
| … | … |
Example
Condition
- ID1(XM430-W210) : Set Max Voltage Limit(32, 0x0020, 2[byte]) to 160(0x00A0)
- ID2(XM430-W210) : Set Temperature Limit(31, 0x001F, 1[byte]) to 80(0x50)
Bulk Write Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | P6 | P7 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x10 | 0x00 | 0x93 | 0x01 | 0x20 | 0x00 | 0x02 | 0x00 | 0xA0 | 0x00 |
| P8 | P9 | P10 | P11 | P12 | P13 | CRC 1 | CRC 2 |
|---|---|---|---|---|---|---|---|
| 0x02 | 0x1F | 0x00 | 0x01 | 0x00 | 0x50 | 0xB7 | 0x68 |
Fast Bulk Read (0x9A)
Description
- Enhanced Instruction for faster communication compared to Bulk Read.
- One Status Packet is structured and returned for all DYNAMIXELs using Fast Bulk Read Instruction regardless of number of DYNAMIXELs chained, as if one DYNAMIXEL returns Status Packet.
- Instruction Packet is formatted in the same way as Bulk Read
- Supported DYNAMIXEL:
- X430/540 Series (Fw v45 or above, 2XL/2XC Not Supported)
- X330 (Fw v46 or above)
- P Series (Fw v12 or above)
- RH-P12-RN(A) (Fw v13 or above)
Note: DYNAMIXEL Tips | Use Fast Sync and Fast Bulk Read Instruction for Speedy Communication
Parameters
| Instruction Packet | Description |
|---|---|
| Parameter 1 | 1st Device ID |
| Parameter 2 | 1st Device Low-order byte from the starting address |
| Parameter 3 | 1st Device High-order byte from the starting address |
| Parameter 4 | 1st Device Low-order byte from the data length(X1) |
| Parameter 5 | 1st Device High-order byte from the data length(X1) |
| Parameter 6 | 2nd Device ID |
| Parameter 7 | 2nd Device Low-order byte from the starting address |
| Parameter 8 | 2nd Device High-order byte from the starting address |
| Parameter 9 | 2nd Device Low-order byte from the data length(X2) |
| Parameter 10 | 2nd Device High-order byte from the data length(X2) |
| Status Packet | Description |
|---|---|
| Parameter 1 | 1st Device ID |
| Parameter 2 | 1st Device First Byte |
| Parameter 3 | 1st Device Second Byte |
| ⋯ | ⋯ |
| Parameter X1 | 1st Device X1-th Byte |
| Parameter X1+1 | 1st Device Low-order byte from CRC |
| Parameter X1+2 | 1st Device High-order byte from CRC |
| Parameter X1+3 | 2nd Device Error |
| Parameter X1+4 | 2nd Device ID |
| Parameter X1+4+1 | 2nd Device First Byte |
| Parameter X1+4+2 | 2nd Device Second Byte |
| ⋯ | ⋯ |
| Parameter X1+4+X2 | 2nd Device X2-th Byte |
| Parameter X1+4+X2+1 | 2nd Device Low-order byte from CRC |
| Parameter X1+4+X2+2 | 2nd Device High-order byte from CRC |
| ⋯ | ⋯ |
| Parameter X1+4+X2+ ⋯ 4+Xn |
Nnd Device Xn-th Byte |
Note: CRC values are used for internal calculation in DYNAMIXEL to confirm packet integrity between DYNAMIXELs. You can let the main controller check CRC only at the end of Status Packet.
Note: Each device respectively returns a particular part of Status Packet in response to Fast Bulk Read Instruction. For more details, see Example below.
Note: Status Packet responded from Fast Bulk Read does not perform Byte Stuffing(0xFD) process.
Example
Example Description
- ID3(XC330-T288) : Present Position(132, 0x0084, 4[byte]) = 166(0x000000A6)
- ID7(XC330-T288) : Present PWM(124, 0x007C, 2[byte]) = 421(0x01A5)
- ID4(XC330-T288) : Present Temperature(146, 0x0092, 1[byte]) = 31(0x1F)
Fast Bulk Read Instruction Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | P1 | P2 | P3 | P4 | P5 | P6 | P7 | P8 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x12 | 0x00 | 0x9A | 0x03 | 0x84 | 0x00 | 0x04 | 0x00 | 0x07 | 0x7C | 0x00 |
| P9 | P10 | P11 | P12 | P13 | P14 | P15 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|
| 0x02 | 0x00 | 0x04 | 0x92 | 0x00 | 0x01 | 0x00 | 0x20 | 0xF2 |
ID 3 Status Packet
| H1 | H2 | H3 | RSRV | Packet ID | LEN1 | LEN2 | INST | ERR | ID1 | D1 | D2 | D3 | D4 | CRC1 | CRC2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0xFF | 0xFF | 0xFD | 0x00 | 0xFE | 0x14 | 0x00 | 0x55 | 0x00 | 0x03 | 0xA6 | 0x00 | 0x00 | 0x00 | 0x67 | 0xA4 |
ID 7 Status Packet
| ERR | ID2 | D1 | D2 | CRC1 | CRC2 |
|---|---|---|---|---|---|
| 0x00 | 0x07 | 0xA5 | 0x01 | 0x24 | 0x74 |
ID 4 Status Packet
| ERR | ID2 | D1 | CRC1 | CRC2 |
|---|---|---|---|---|
| 0x00 | 0x04 | 0x1F | 0xD9 | 0xC1 |