DYNAMIXEL SDK

C PacketHandler

Description : Base functions for packet construction.
Members : None
Methods

Methods	Description
packetHandler	Initializes members of packet data pointer struct
printTxRxResult	Shows communication result (Deprecated Methods. Please check getTxRxResult)*
printRxPacketError	Shows hardware error (Deprecated Methods. Please check getRxPacketError)*
getLastTxRxResult	Gets last communication result
getLastRxPacketError	Gets last hardware error
setDataWrite	Gets last communication result
getDataRead	Gets last hardware error
txPacket	Transmits the packet
rxPacket	Receives the packet
fastReadRxPacket	Receives the packet quickly
txRxPacket	Transmits and receives the packet
ping	ping DYNAMIXEL
pingGetModelNum	Ping DYNAMIXEL and get its model number
broadcastPing	ping all connected DYNAMIXEL’s
getBroadcastPingResult	Get IDs of DYNAMIXEL’s responded by BroadcastPing2
action	Commands ‘Run’ the Regwritten
regWrite	Writes the packets and wait for the ‘Action’ command
reboot	Reboots DYNAMIXEL
clearMultiTurn	Reset the Present Position
factoryReset	Resets all DYNAMIXEL settings
readTx	Transmits N byte read instruction packet
readRx	Receives N byte read status packet
fastSyncReadRx	Receives N byte read status packet quickly
readTxRx	Transmits and receives N byte packet
read1ByteTx	Transmits 1 byte read instruction packet
read1ByteRx	Receives 1 byte read status packet
read1ByteTxRx	Transmits and receives 1 byte packet
read2ByteTx	Transmits 2 byte read instruction packet
read2ByteRx	Receives 2 byte read status packet
read2ByteTxRx	Transmits and receives 2 byte packet
read4ByteTx	Transmits 4 byte read instruction packet
read4ByteRx	Receives 4 byte read status packet
read4ByteTxRx	Transmits and receives 4 byte packet
writeTxOnly	Transmits N byte write instruction packet
writeTxRx	Transmits and receives N byte packet
write1ByteTxOnly	Transmits 1 byte write instruction packet
write1ByteTxRx	Transmits and receives 1 byte packet
write2ByteTxOnly	Transmits 2 byte write instruction packet
write2ByteTxRx	Transmits and receives 2 byte packet
write4ByteTxOnly	Transmits 4 byte write instruction packet
write4ByteTxRx	Transmits and receives 4 byte packet
regWriteTxOnly	Transmits register write instruction packet
regWriteTxRx	Transmits and receives register write packet
syncReadTx	Transmits N byte sync read Instruction packet
fastSyncReadTx	Transmits N byte sync read Instruction packet quickly
syncWriteTxOnly	Transmits N byte sync write Instruction packet
bulkReadTx	Transmits N byte bulk read Instruction packet
bulkWriteTxOnly	Transmits N byte bulk write Instruction packet

Enumerator

Enumerator	Description
DXL_MAKEWORD(a, b)	makes value from a and b to word type
DXL_MAKEDWORD(a, b)	makes value from a and b to dword type
DXL_LOWORD(l)	gets lower word type value from l
DXL_HIWORD(l)	gets higher word type value from l
DXL_LOBYTE(w)	gets lower byte type value from w
DXL_HIBYTE(w)	gets higher byte type value from w
BROADCAST_ID	:= 0xFE Broadcast ID
MAX_ID	:= 0xFC Maximum ID value
INST_PING	:= 1 Instruction value of ping
INST_READ	:= 2 Instruction value of Read
INST_WRITE	:= 3 Instruction value of Write
INST_REG_WRITE	:= 4 Instruction value of Register Write
INST_ACTION	:= 5 Instruction value of Action
INST_FACTORY_RESET	:= 6 Instruction value of Factory Reset
INST_SYNC_WRITE	:= 131 Instruction value of Sync Write
INST_BULK_READ	:= 146 Instruction value of Bulk Read
INST_REBOOT	:= 8 Instruction value of Reboot
INST_CLEAR	:= 16 Instruction value of Clear
INST_STATUS	:= 85 Instruction value of Status
INST_SYNC_READ	:= 130 Instruction value of Sync Read
INST_FAST_SYNC_READ	:= 138 Instruction value of Fast Sync Read
INST_BULK_WRITE	:= 147 Instruction value of Bulk Write
COMM_SUCCESS	:= 0 Status of Communication Success
COMM_PORT_BUSY	:= -1000 Status of Port in use
COMM_TX_FAIL	:= -1001 Status of Transmit packet failed
COMM_RX_FAIL	:= -1002 Status of Receive packet failed
COMM_TX_ERROR	:= -2000 Status of Transmit packet error
COMM_RX_WAITING	:= -3000 Status of Receive packet waiting
COMM_RX_TIMEOUT	:= -3001 Status of Receive packet timeout
COMM_RX_CORRUPT	:= -3002 Status of Receive packet corrupt
COMM_NOT_AVAILABLE	:= -9000 Status of Unavailable in protocol 1.0

Method References

packetHandler

Syntax
```
void packetHandler()
```
Parameters

None
Detailed Description

This function initializes the parameters for packet construction. The function resizes packetData struct and initialzes struct members.

printTxRxResult

Syntax

const char *getTxRxResult(int protocol_version, int result)

Parameters

Parameters	Description
protocol_version	Protocol version
result	Communication result

Detailed Description

printTxRxResult is Deprecated. Please use the getTxRxResult instead of printTxRxResult.

This function calls either getTxRxResult1 or getTxRxResult2 function depending on the protocol_version.

printRxPacketError

Syntax

const char *getRxPacketError(int protocol_version, uint8_t error)

Parameters

Parameters	Description
protocol_version	Protocol version
error	Hardware error

Detailed Description

printRxPacketError is Deprecated. Please use the getRxPacketError instead of printRxPacketError.

This function calls either getRxPacketError1 or getRxPacketError2 function depending on the protocol_version.

getLastTxRxResult

Syntax

int getLastTxRxResult(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either getLastTxRxResult1 or getLastTxRxResult2 function depending on the protocol_version.

getLastRxPacketError

Syntax

uint8_t getLastRxPacketError(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either getLastRxPacketError1 or getLastRxPacketError2 function depending on the protocol_version.

setDataWrite

Syntax

void setDataWrite(int port_num, int protocol_version, uint16_t data_length, uint16_t data_pos, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
data_length	Data length
data_pos	Targeted position of array element
data	Data

Detailed Description

This function calls either setDataWrite1 or setDataWrite2 function depending on the protocol_version.

getDataRead

Syntax

uint32_t getDataRead(int port_num, int protocol_version, uint16_t data_length, uint16_t data_pos)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
data_length	Data length
data_pos	Targeted position of array element

Detailed Description

This function calls either getDataRead1 or getDataRead2 function depending on the protocol_version.

txPacket

Syntax

 void txPacket(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port_num
protocol_version	Protocol version

Detailed Description

This function calls either txPacket1 or txPacket2 function depending on the protocol_version.

rxPacket

Syntax

void rxPacket(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either rxPacket1 or rxPacket2 function depending on the protocol_version.

fastReadRxPacket

Syntax

void fastReadRxPacket(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either rxPacket1 or fastRxPacket2 function depending on the protocol_version.

txRxPacket

Syntax

void txRxPacket(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either txRxPacket1 or txRxPacket2 function depending on the protocol_version.

ping

Syntax

void ping (int port_num, int protocol_version, uint8_t id)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID

Detailed Description

This function calls either ping1 or ping2 function depending on the protocol_version.

pingGetModelNum

Syntax

uint16_t pingGetModelNum (int port_num, int protocol_version, int id)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID

Detailed Description

This function calls either pingGetModelNum1 or pingGetModelNum2 function depending on the protocol_version.

broadcastPing

Syntax

void broadcastPing(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either broadcastPing1 or broadcastPing2 function depending on the protocol_version.

getBroadcastPingResult

Syntax

uint8_t getBroadcastPingResult(int port_num, int protocol_version, int id)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID

Detailed Description

This function calls either getBroadcastPingResult1 or getBroadcastPingResult2 function depending on the protocol_version.

action

Syntax

void action(int port_num, int protocol_version, int id)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID

Detailed Description

This function calls either action1 or action2 function depending on the protocol_version.

reboot

Syntax

void reboot(int port_num, int protocol_version, uint8_t id)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID

Detailed Description

This function calls either reboot1 or reboot2 function depending on the protocol_version.

clearMultiTurn

Syntax

void clearMultiTurn(int port_num, int protocol_version, uint8_t id)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID

Detailed Description

This function calls either clearMultiTurn1 or clearMultiTurn2 function depending on the protocol_version.

factoryReset

Syntax

void factoryReset(int port_num, int protocol_version, uint8_t id, uint8_t option)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
option	Reset option

Detailed Description

This function calls either factoryReset1 or factoryReset2 function depending on the protocol_version.

readTx

Syntax

void readTx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls either readTx1 or readTx2 function depending on the protocol_version.

readRx

Syntax

void readRx(int port_num, int protocol_version, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
length	Packet length

Detailed Description

This function calls either readRx1 or readRx2 function depending on the protocol_version.

fastSyncReadRx

Syntax

 void fastSyncReadRx(int port_num, int protocol_version, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
length	Packet length

Detailed Description

This function calls either fastReadRx2 function depending on the protocol_version.

readTxRx

Syntax

 void readTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls either readTxRx1 or readTxRx2 function depending on the protocol_version.

read1ByteTx

Syntax

void read1ByteTx(int port_num, int protocol_version, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls either read1ByteTx1 or read1ByteTx2 function depending on the protocol_version.

read1ByteRx

Syntax

uint8_t read1ByteRx(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either read1ByteRx1 or read1ByteRx2 function depending on the protocol_version.

read1ByteTxRx

Syntax

 uint8_t read1ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls either read1ByteTxRx1 or read1ByteTxRx2 function depending on the protocol_version.

read2ByteTx

Syntax

void read2ByteTx(int port_num, int protocol_version, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls either read2ByteTx1 or read2ByteTx2 function depending on the protocol_version.

read2ByteRx

Syntax

 uint16_t read2ByteRx(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either read2ByteRx1 or read2ByteRx2 function depending on the protocol_version.

read2ByteTxRx

Syntax

 uint16_t read2ByteTxRx(int port_num, int protocol_version, uint8_t id,uint16_t address)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls either read2ByteTxRx1 or read2ByteTxRx2 function depending on the protocol_version.

read4ByteTx

Syntax

void read4ByteTx(int port_num, int protocol_version, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls either read4ByteTx1 or read4ByteTx2 function depending on the protocol_version.

read4ByteRx

Syntax

uint32_t read4ByteRx(int port_num, int protocol_version)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version

Detailed Description

This function calls either read4ByteRx1 or read4ByteRx2 function depending on the protocol_version.

read4ByteTxRx

Syntax

uint32_t read4ByteTxRx(int port_num, int protocol_version, UIN8_T id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls either read4ByteTxRx1 or read4ByteTxRx2 function depending on the protocol_version.

writeTxOnly

Syntax

void writeTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls either writeTxOnly1 or writeTxOnly2 function depending on the protocol_version.

writeTxRx

Syntax

void writeTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls either writeTxRx1 or writeTxRx2 function depending on the protocol_version.

write1ByteTxOnly

Syntax

void write1ByteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint8_t data)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls either write1ByteTxOnly1 or write1ByteTxOnly2 function depending on the protocol_version.

write1ByteTxRx

Syntax

void write1ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint8_t data)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls either write1ByteTxRx1 or write1ByteTxRx2 function depending on the protocol_version.

write2ByteTxOnly

Syntax

void write2ByteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t data)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls either write2ByteTxOnly1 or write2ByteTxOnly2 function depending on the protocol_version.

write2ByteTxRx

Syntax

 void write2ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t data)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls either write2ByteTxRx1 or write2ByteTxRx2 function depending on the protocol_version.

write4ByteTxOnly

Syntax

void write4ByteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls either write4ByteTxOnly1 or write4ByteTxOnly2 function depending on the protocol_version.

write4ByteTxRx

Syntax

void write4ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls either write4ByteTxRx1 or write4ByteTxRx2 function depending on the protocol_version.

regWriteTxOnly

Syntax

 void regWriteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls either RegWriteTxOnly1 or RegWriteTxOnly2 function depending on the protocol_version.

regWriteTxRx

Syntax

 void regWriteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls either regWriteTxRx1 or regWriteTxRx2 function depending on the protocol_version.

syncReadTx

Syntax

void syncReadTx(int port_num, int protocol_version, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
address	Start address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function calls either syncReadTx1 or syncReadTx2 function depending on the protocol_version.

fastSyncReadTx

Syntax

void fastSyncReadTx(iint port_num, int protocol_version, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
start_address	Start address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function calls either fastSyncReadTx2 function depending on the protocol_version.

syncWriteTxOnly

Syntax

 void syncWriteTxOnly(int port_num, int protocol_version, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
start_address	Start address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function calls either syncWriteTxOnly1 or syncWriteTxOnly2 function depending on the protocol_version.

bulkReadTx

Syntax

 void bulkReadTx(int port_num, int protocol_version, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
param_length	Parameter length

Detailed Description

This function calls either bulkReadTx1 or bulkReadTx2 function depending on the protocol_version.

bulkWriteTxOnly

Syntax

 void bulkWriteTxOnly(int port_num, int protocol_version, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
protocol_version	Protocol version
param_length	Parameter length

Detailed Description

This function calls either bulkWriteTxOnly1 or bulkWriteTxOnly2 function depending on the protocol_version.

C Protocol1PacketHandler

Description

PacketHandler dependent functions for packet construction using Protocol 1.0.

Members

None

Methods

Methods	Description
printTxRxResult1	Shows communication result (Deprecated Methods. Please check getTxRxResult1)*
printRxPacketError1	Shows hardware error (Deprecated Methods. Please check getRxPacketError1)*
getLastTxRxResult1	Gets last communication result
getLastRxPacketError1	Gets last hardware error
setDataWrite1	Gets last communication result
getDataRead1	Gets last hardware error
txPacket1	Transmits the packet
rxPacket1	Receives the packet
txRxPacket1	Transmits and receives the packet
ping1	Ping DYNAMIXEL
pingGetModelNum1	Ping DYNAMIXEL and get its model number
broadcastPing1	Not available in Protocol 1.0
getBroadcastPingResult1	Not available in Protocol 1.0
action1	Commands ‘Run’ the Regwritten
RegWrite1	Writes the packets and wait for the ‘Action’ command
reboot1	Not available in Protocol 1.0
clearMultiTurn1	Reset the Present Position
factoryReset1	Resets all DYNAMIXEL settings
readTx1	Transmits N byte read instruction packet
readRx1	Receives N byte read status packet
readTxRx1	Transmits and receives N byte packet
read1ByteTx1	Transmits 1 byte read instruction packet
read1ByteRx1	Receives 1 byte read status packet
read1ByteTxRx1	Transmits and receives 1 byte packet
read2ByteTx1	Transmits 2 byte read instruction packet
read2ByteRx1	Receives 2 byte read status packet
read2ByteTxRx1	Transmits and receives 2 byte packet
read4ByteTx1	Not available in Protocol 1.0
read4ByteRx1	Not available in Protocol 1.0
read4ByteTxRx1	Not available in Protocol 1.0
writeTxOnly1	Transmits N byte write instruction packet
writeTxRx1	Transmits and receives N byte packet
write1ByteTxOnly1	Transmits 1 byte write instruction packet
write1ByteTxRx1	Transmits and receives 1 byte packet
write2ByteTxOnly1	Transmits 2 byte write instruction packet
write2ByteTxRx1	Transmits and receives 2 byte packet
write4ByteTxOnly1	Not available in Protocol 1.0
write4ByteTxRx1	Not available in Protocol 1.0
regWriteTxOnly1	Transmits register write instruction packet
regWriteTxRx1	Transmits and receives register write packet
syncReadTx1	Not available in Protocol 1.0
syncWriteTxOnly1	Transmits N byte sync write Instruction packet
bulkReadTx1	Transmits N byte bulk read Instruction packet
bulkWriteTxOnly1	Not available in Protocol 1.0

Enumerator

None

Method References

printTxRxResult1

Syntax
```
const char *getTxRxResult1(int result)
```
Parameters

Parameters	Description
result	Communication result

Detailed Description

printTxRxResult1 is Deprecated. Please use the getTxRxResult1 instead of printTxRxResult1.

This function prints out on the console window what communication result value means.

printRxPacketError1

Syntax

const char *getRxPacketError1(uint8_t error)

Parameters

Parameters	Description
error	Hardware error

Detailed Description

printRxPacketError1 is Deprecated. Please use the getRxPacketError1 instead of printRxPacketError1.

This function prints out on the console window what hardware error value means.

getLastTxRxResult1

Syntax
```
int getLastTxRxResult1(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function returns the communication result of #port_num port.

getLastRxPacketError1

Syntax

uint8_t getLastRxPacketError1(int port_num)

Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function returns the hardware error of #port_num port.

setDataWrite1

Syntax

void setDataWrite1(int port_num, uint16_t data_length, uint16_t data_pos, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
data_length	Data length
data_pos	Targeted position of array element
data	Data

Detailed Description

This function puts Data length bytes of Data into data_pos element of array for writing data at #port_num port tx buffer.

getDataRead1

Syntax

uint32_t getDataRead1(int port_num, uint16_t data_length, uint16_t data_pos)

Parameters

Parameters	Description
port_num	Port number
data_length	Data length
data_pos	Targeted position of array element

Detailed Description

This function gets data_length bytes of the data located in data_pos position of read data array that from #port_num port rx buffer.

txPacket1

Syntax
```
void txPacket1(int port_num)
```
Parameters

Parameters	Description
port_num	Port_num

Detailed Description

This function transmits the packet. The function clears the port by ClearPort function at first, and stores data in the txpacket storage of #port_num port. The communication result and the hardware error are available when the function is terminated.

rxPacket1

Syntax
```
void rxPacket1(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function repeatedly tries to receive packets from #port_num port rx buffer until whole packets that it waits to get have arrived, or the packet wait time limit is over, while it filters garbage signals and verify correctness of received signal. The communication result and the hardware error are available when the function is terminated.

txRxPacket1

Syntax
```
void txRxPacket1(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function stores data for being written into the array for packet transmission and gets data read from rx buffer of #port_num port by txPacket1 and rxPacket1 functions. When txPacket1 function succeeds to communicate, it will continue to RxPacket2 and finishes the process if the packet succeeds to be received. In particular, the group handler functions for write, such as SyncWrite, don’t use RxPacket so the function finishes its operation immediately after the txPacket1. Before the rxPacket1, it sets packet timeout if the instruction of received packet is for read. The communication result and the hardware error are available when the function is terminated.

ping1

Syntax
```
void ping1 (int port_num, uint8_t id)
```
Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function uses pingGetModelNum1 without requesting DYNAMIXEL to send its the model number. The communication result and the hardware error are available when the function is terminated.

pingGetModelNum1

Syntax

uint16_t pingGetModelNum1 (int port_num, int id)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function constructs the transmission packet for ping, and stats txRxPacket1. Then, the function tries to get the model number of the DYNAMIXEL by readTxRx1 function. When it succeeds to receive the packet, it returns the model number. The communication result and the hardware error are available when the function is terminated.

broadcastPing1

Syntax
```
void broadcastPing1(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

getBroadcastPingResult1

Syntax

uint8_t getBroadcastPingResult1(int port_num, int id)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0. The function returns false.

action1

Syntax
```
void action1(int port_num, int id)
```
Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function pulls the trigger of sending txpacket previously set by regWriteTxOnly1 or regWriteTxRx1 function, using txRxPacket1 function. The communication result and the hardware error are available when the function is terminated.

reboot1

Syntax
```
void reboot1(int port_num, uint8_t id)
```
Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

clearMultiTurn1

Syntax

void clearMultiTurn1(int port_num, uint8_t id)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

factoryReset1

Syntax

void factoryReset1(int port_num, uint8_t id, uint8_t option)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
option	Reset option

Detailed Description

This function constructs the transmission packet for reset DYNAMIXEL, and starts txRxPacket1. This resets targeted DYNAMIXEL’s settings to the factory default settings. The option is not available in DYNAMIXEL Protocol 1.0. The communication result and the hardware error are available when the function is terminated.

readTx1

Syntax

void readTx1(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function constructs the transmission packet with read instruction, and starts txPacket1. Then the function calls SetPacketTimeout function when packet transmission succeeds. This function can’t control more than one DYNAMIXEL at once. The communication result and the hardware error are available when the function is terminated.

readRx1

Syntax

void readRx1(int port_num, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
length	Packet length

Detailed Description

This function calls rxPacket1 function and gets the packet from read data storage if the communication succeeds. The communication result and the hardware error are available when the function is terminated.

readTxRx1

Syntax

void readTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls readTx1 function and readRx1 function. readRx1 function will be called when readTx1 succeeds. The communication result and the hardware error are available when the function is terminated.

read1ByteTx1

Syntax

void read1ByteTx1(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTx1 function to send 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteRx1

Syntax
```
uint8_t read1ByteRx1(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function calls readRx1 function to receive response packet of 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteTxRx1

Syntax

uint8_t read1ByteTxRx1(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTxRx1 function to read 1 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read2ByteTx1

Syntax

void read2ByteTx1(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTx1 function to send 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteRx1

Syntax
```
uint16_t read2ByteRx1(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function calls readRx1 function to receive response packet of 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteTxRx1

Syntax

uint16_t read2ByteTxRx1(int port_num, uint8_t id,uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTxRx1 function to read 2 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read4ByteTx1

Syntax

void read4ByteTx1(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

read4ByteRx1

Syntax
```
uint32_t read4ByteRx1(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

read4ByteTxRx1

Syntax

uint32_t read4ByteTxRx1(int port_num, UIN8_T id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

writeTxOnly1

Syntax

void writeTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function constructs the transmission packet with write instruction, and starts txPacket1. The communication result and the hardware error are available when the function is terminated.

writeTxRx1

Syntax

void writeTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function constructs the transmission packet with write instruction, and starts txRxPacket1. The communication result and the hardware error are available when the function is terminated.

write1ByteTxOnly1

Syntax

void write1ByteTxOnly1(int port_num, uint8_t id, uint16_t address, uint8_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxOnly1 function to send 1 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write1ByteTxRx1

Syntax

void write1ByteTxRx1(int port_num, uint8_t id, uint16_t address, uint8_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxRx1 function to send 1 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write2ByteTxOnly1

Syntax

void write2ByteTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxOnly1 function to send 2 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write2ByteTxRx1

Syntax

void write2ByteTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxRx1 function to send 2 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write4ByteTxOnly1

Syntax

void write4ByteTxOnly1(int port_num, uint8_t id, uint16_t address, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

write4ByteTxRx1

Syntax

void write4ByteTxRx1(int port_num, uint8_t id, uint16_t address, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

regWriteTxOnly1

Syntax

void regWriteTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function intends simultaneous control of more than one DYNAMIXEL. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action1 function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

regWriteTxRx1

Syntax

void regWriteTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function intends simultaneous multiple DYNAMIXEL’s control. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action1 function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

syncReadTx1

Syntax

void syncReadTx1(int port_num, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
start_address	Address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

syncWriteTxOnly1

Syntax

void syncWriteTxOnly1(int port_num, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
start_address	Address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function intends simultaneous multiple DYNAMIXEL’s control by writing same length of data to the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync write instruction, and starts txRxPacket1. The communication result and the hardware error are available when the function is terminated.

bulkReadTx1

Syntax

void bulkReadTx1(int port_num, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
param_length	Parameter length

Detailed Description

This function intends simultaneous multiple DYNAMIXEL’s control by reading different length of data to the different address on the DYNAMIXEL control table. The function constructs the transmission packet with bulk read instruction, and starts txPacket1. Then the function calls SetPacketTimeout function when txPacket1 succeeds. The communication result and the hardware error are available when the function is terminated.

bulkWriteTxOnly1

Syntax

void bulkWriteTxOnly1(int port_num, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
param_length	Parameter length

Detailed Description

This function is not available with the DYNAMIXEL Protocol 1.0.

C Protocol2PacketHandler

Description

PacketHandler dependent functions for packet construction using Protocol 2.0.
Members

None
Methods

Methods	Description
printTxRxResult2	Shows communication result (Deprecated Methods. Please check getTxRxResult2)*
printRxPacketError2	Shows hardware error (Deprecated Methods. Please check getRxPacketError2)*
getLastTxRxResult2	Gets last communication result
getLastRxPacketError2	Gets last hardware error
setDataWrite2	Gets last communication result
getDataRead2	Gets last hardware error
updateCRC	Data transfer check method
addStuffing	Appends the packet value
removeStuffing	Removes the packet value
txPacket2	Transmits the packet
rxPacket2	Receives the packet
fastRxPacket2	Receives the packet quickly
txRxPacket2	Transmits and receives the packet
ping2	Ping DYNAMIXEL
pingGetModelNum2	Ping DYNAMIXEL and get its model number
broadcastPing2	Ping all connected DYNAMIXEL’s
getBroadcastPingResult2	Get IDs of DYNAMIXEL’s responded by broadcastPing2
action2	Commands ‘Run’ the Regwritten
regWrite2	Writes the packets and wait for the ‘Action’ command
reboot2	Reboots DYNAMIXEL
clearMultiTurn2	Clear instruction packet
factoryReset2	Resets all DYNAMIXEL settings
readTx2	Transmits N byte read instruction packet
readRx2	Receives N byte read status packet
fastReadRx2	Receives N byte read status packet quickly
readTxRx2	Transmits and receives N byte packet
read1ByteTx2	Transmits 1 byte read instruction packet
read1ByteRx2	Receives 1 byte read status packet
read1ByteTxRx2	Transmits and receives 1 byte packet
read2ByteTx2	Transmits 2 byte read instruction packet
read2ByteRx2	Receives 2 byte read status packet
read2ByteTxRx2	Transmits and receives 2 byte packet
read4ByteTx2	Transmits 4 byte read instruction packet
read4ByteRx2	Receives 4 byte read status packet
read4ByteTxRx2	Transmits and receives 4 byte packet
writeTxOnly2	Transmits N byte write instruction packet
writeTxRx2	Transmits and receives N byte packet
write1ByteTxOnly2	Transmits 1 byte write instruction packet
write1ByteTxRx2	Transmits and receives 1 byte packet
write2ByteTxOnly2	Transmits 2 byte write instruction packet
write2ByteTxRx2	Transmits and receives 2 byte packet
write4ByteTxOnly2	Transmits 4 byte write instruction packet
write4ByteTxRx2	Transmits and receives 4 byte packet
regWriteTxOnly2	Transmits register write instruction packet
regWriteTxRx2	Transmits and receives register write packet
syncReadTx2	Transmits N byte sync read Instruction packet
fastSyncReadTx2	Transmits N byte sync read Instruction packet quickly
syncWriteTxOnly2	Transmits N byte sync write Instruction packet
bulkReadTx2	Transmits N byte bulk read Instruction packet
bulkWriteTxOnly2	Transmits N byte bulk write Instruction packet

Enumerator

None

Method References

printTxRxResult2

Syntax
```
const char *getTxRxResult2(int result)
```
Parameters

Parameters	Description
result	Communication result

Detailed Description

printTxRxResult2 is Deprecated. Please use the getTxRxResult2 instead of printTxRxResult2.

This function prints out on the console window what communication result value means.

printRxPacketError2

Syntax

const char *getRxPacketError2(uint8_t error)

Parameters

Parameters	Description
error	Hardware error

Detailed Description

printRxPacketError2 is Deprecated. Please use the getRxPacketError2 instead of printRxPacketError2.

This function prints out on the console window what hardware error value means.

getLastTxRxResult2

Syntax
```
int getLastTxRxResult2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function returns the communication result of #port_num port.

getLastRxPacketError2

Syntax

uint8_t getLastRxPacketError2(int port_num)

Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function returns the hardware error of #port_num port.

setDataWrite2

Syntax

void setDataWrite2(int port_num, uint16_t data_length, uint16_t data_pos, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
data_length	Data length
data_pos	Targeted position of array element
data	Data

Detailed Description

This function puts Data length bytes of Data into data_pos element of array for writing data at #port_num port tx buffer.

getDataRead2

Syntax

uint32_t getDataRead2(int port_num, uint16_t data_length, uint16_t data_pos)

Parameters

Parameters	Description
port_num	Port number
data_length	Data length
data_pos	Targeted position of array element

Detailed Description

This function gets data_length bytes of the data located in data_pos position of read data array that from #port_num port rx buffer.

updateCRC

Syntax

uint16_t updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size)

Parameters

Parameters	Description
crc_accum	set to ‘0’
data_blk_ptr	Packet array pointer
data_blk_size	Number of bytes in packet excluding CRC

Detailed Description

This function is a data transfer check method.

addStuffing

Syntax
```
void addStuffing(uint8_t *packet)
```
Parameters

Parameters	Description
packet	packet

Detailed Description

This function appends the packet value.

removeStuffing

Syntax
```
void removeStuffing(uint8_t *packet)
```
Parameters

Parameters	Description
packet	packet

Detailed Description

This function removes the packet value.

txPacket2

Syntax
```
 void txPacket2(int port_num)
```
Parameters

Parameters	Description
port_num	Port_num

Detailed Description

This function transmits the packet. The function clears the port by ClearPort function at first, and stores data in the txpacket storage of #port_num port. The communication result and the hardware error are available when the function is terminated.

rxPacket2

Syntax
```
void rxPacket2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function repeatedly tries to receive packets from #port_num port rx buffer until whole packets that it waits to get have arrived, or the packet wait time limit is over, while it filters garbage signals and verify correctness of received signal. The communication result and the hardware error are available when the function is terminated.

fastRxPacket2

Syntax
```
void fastRxPacket2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function repeatedly tries to receive packets from #port_num port rx buffer until whole packets that it waits to get have arrived, or the packet wait time limit is over, while it filters garbage signals and verify correctness of received signal. And this function do not use Byte Stuffing. The communication result and the hardware error are available when the function is terminated.

txRxPacket2

Syntax
```
void txRxPacket2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function stores data for being written into the array for packet transmission and gets data read from rx buffer of #port_num port by txPacket2 and rxPacket2 functions. When txPacket2 function succeeds to communicate, it will continue to rxPacket2 and finishes the process if the packet succeeds to be received. In particular, the group handler functions for write, such as SyncWrite, and BulkWrite, don’t use rxPacket2 so the function finishes its operation immediately after the ‘txPacket2’. Before the rxPacket2, it sets packet timeout if the instruction of received packet is for read. The communication result and the hardware error are available when the function is terminated.

ping2

Syntax
```
void ping2 (int port_num, uint8_t id)
```
Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function uses pingGetModelNum2 without requesting DYNAMIXEL to send its the model number. The communication result and the hardware error are available when the function is terminated.

pingGetModelNum2

Syntax

uint16_t pingGetModelNum2 (int port_num, int id)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function constructs the transmission packet for ping, and stats txRxPacket2. Then, the function tries to get the model number of the DYNAMIXEL by readTxRx2 function. When it succeeds to receive the packet, it returns the model number. The communication result and the hardware error are available when the function is terminated.

broadcastPing2

Syntax
```
void broadcastPing2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function finds all connected dynamixels and store their id in the list.

getBroadcastPingResult2

Syntax

uint8_t getBroadcastPingResult2(int port_num, int id)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function returns whether #id DYNAMIXEL responded by broadcastPing2 function.

action2

Syntax
```
void action2(int port_num, int id)
```
Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function pulls the trigger of sending txpacket previously set by regWriteTxOnly2 or regWriteTxRx2 function, using txRxPacket2 function. The communication result and the hardware error are available when the function is terminated.

reboot2

Syntax
```
void reboot2(int port_num, uint8_t id)
```
Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

This function constructs the transmission packet with reboot instruction, and starts txRxPacket2. The function may perform its role when the DYNAMIXEL stops working caused by hardware error. The communication result and the hardware error are available when the function is terminated.

clearMultiTurn2

Syntax

void clearMultiTurn2(int port_num, uint8_t id)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID

Detailed Description

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.

factoryReset2

Syntax

void factoryReset2(int port_num, uint8_t id, uint8_t option)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
option	Reset option

Detailed Description

This function constructs the transmission packet for reset DYNAMIXEL, and starts txRxPacket2. This resets targeted DYNAMIXEL’s settings to the factory default settings. The option indicates the range of which items on the control table should be reset: 0xFF for resetting all values, 0x01 for resetting all values except ID, 0x02 for resetting all values except ID and Baudrate. The communication result and the hardware error are available when the function is terminated.

readTx2

Syntax

void readTx2(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function constructs the transmission packet with read instruction, and starts txPacket2. Then the function calls setPacketTimeout function when packet transmission succeeds. This function can’t control more than one DYNAMIXEL at once. The communication result and the hardware error are available when the function is terminated.

readRx2

Syntax

void readRx2(int port_num, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
length	Packet length

Detailed Description

This function calls rxPacket2 function and gets the packet from read data storage if the communication succeeds. The communication result and the hardware error are available when the function is terminated.

fastReadRx2

Syntax

void fastReadRx2 (int port_num, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
length	Packet length

Detailed Description

This function calls fastReadRx2 function and gets the packet quickly from read data storage if the communication succeeds. The communication result and the hardware error are available when the function is terminated.

readTxRx2

Syntax

 void readTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function calls readTx2 function and readRx2 function. readRx2 function will be called when readTx2 succeeds. The communication result and the hardware error are available when the function is terminated.

read1ByteTx2

Syntax

void read1ByteTx2(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTx2 function to send 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteRx2

Syntax
```
uint8_t read1ByteRx2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function calls readRx2 function to receive response packet of 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteTxRx2

Syntax

 uint8_t read1ByteTxRx2(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTxRx2 function to read 1 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read2ByteTx2

Syntax

void read2ByteTx2(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTx2 function to send 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteRx2

Syntax
```
 uint16_t read2ByteRx2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function calls readRx2 function to receive response packet of 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteTxRx2

Syntax

 uint16_t read2ByteTxRx2(int port_num, uint8_t id,uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTxRx2 function to read 2 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read4ByteTx2

Syntax

void read4ByteTx2(int port_num, uint8_t id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTx2 function to send 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read4ByteRx2

Syntax
```
uint32_t read4ByteRx2(int port_num)
```
Parameters

Parameters	Description
port_num	Port number

Detailed Description

This function calls readRx2 function to receive response packet of 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read4ByteTxRx2

Syntax

uint32_t read4ByteTxRx2(int port_num, UIN8_T id, uint16_t address)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

Detailed Description

This function calls readTxRx2 function to read 4 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

writeTxOnly2

Syntax

void writeTxOnly2(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function constructs the transmission packet with write instruction, and starts txPacket2. The communication result and the hardware error are available when the function is terminated.

writeTxRx2

Syntax

void writeTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function constructs the transmission packet with write instruction, and starts txRxPacket2. The communication result and the hardware error are available when the function is terminated.

write1ByteTxOnly2

Syntax

void write1ByteTxOnly2(int port_num, uint8_t id, uint16_t address, uint8_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxOnly2 function to send 1 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write1ByteTxRx2

Syntax

void write1ByteTxRx2(int port_num, uint8_t id, uint16_t address, uint8_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxRx2 function to send 1 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write2ByteTxOnly2

Syntax

void write2ByteTxOnly2(int port_num, uint8_t id, uint16_t address, uint16_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxOnly2 function to send 2 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write2ByteTxRx2

Syntax

 void write2ByteTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxRx2 function to send 2 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write4ByteTxOnly2

Syntax

void write4ByteTxOnly2(int port_num, uint8_t id, uint16_t address, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxOnly2 function to send 4 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write4ByteTxRx2

Syntax

void write4ByteTxRx2(int port_num, uint8_t id, uint16_t address, uint32_t data)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

Detailed Description

This function calls writeTxRx2 function to send 4 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

regWriteTxOnly2

Syntax

 void regWriteTxOnly2(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function intends simultaneous control of more than one DYNAMIXEL. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action2 function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

regWriteTxRx2

Syntax

 void regWriteTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)

Parameters

Parameters	Description
port_num	Port number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

Detailed Description

This function intends simultaneous multiple DYNAMIXEL’s control. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action2 function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

syncReadTx2

Syntax

void syncReadTx2(int port_num, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
start_address	Start address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function intends simultanoues multiple DYNAMIXEL’s control by reading same length of data from the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync read instruction, and starts ‘txPacket2’. Then the function calls setPacketTimeout function when txPacket2 succeeds. The communication result and the hardware error are available when the function is terminated.

fastSyncReadTx2

Syntax

void fastSyncReadTx2(int port_num, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
start_address	Start address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function intends simultanoues multiple DYNAMIXEL’s control by reading same length of data from the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync read instruction, and starts ‘txPacket2’. Then the function calls setPacketTimeout function when txPacket2 succeeds. The communication result and the hardware error are available when the function is terminated.

syncWriteTxOnly2

Syntax

 void syncWriteTxOnly2(int port_num, uint16_t start_address, uint16_t data_length, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
start_address	Start address on the control table of DYNAMIXEL
data_length	Data length
param_length	Parameter length

Detailed Description

This function intends simultaneous multiple DYNAMIXEL’s control by writing same length of data to the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync write instruction, and starts txRxPacket2. The communication result and the hardware error are available when the function is terminated.

bulkReadTx2

Syntax

 void bulkReadTx2(int port_num, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
param_length	Parameter length

Detailed Description

This function intends simultaneous multiple DYNAMIXEL’s control by writing different length of data to the different address on the DYNAMIXEL control table. The function constructs the transmission packet with bulk read instruction, and starts txPacket2. Then the function calls setPacketTimeout function when txPacket2 succeeds. The communication result and the hardware error are available when the function is terminated.

bulkWriteTxOnly2

Syntax

 void bulkWriteTxOnly2(int port_num, uint16_t param_length)

Parameters

Parameters	Description
port_num	Port number
param_length	Parameter length

Detailed Description

This function intends simultaneous multiple DYNAMIXEL’s control by writing different length of data from the different address on the DYNAMIXEL control table. The function constructs the transmission packet with bulk write instruction, and starts TxRxPacket. The communication result and the hardware error are available when the function is terminated.