Robotis - DX-116

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Contents

User s Manual 2004 04 02 DYNAMIXEL DX 116 Contents 1 Summary 1 1 Overview amp Characteristics of DX 116 1 2 Main Specification 2 Dynamixel Assembly 2 1 Mechanical Parts Assembly 2 2 Connector Assembly 2 3 Dynamixel Wiring 3 Communication Protocol 3 1 Communication Overview 3 2 Instruction Packet 3 3 Status Packet 3 4 Control Table 4 Instruction Set and Examples 4 1 WRITE _DATA 4 2 READ DATA 4 3 REG WRITE and ACTION 4 4 PING 4 5 RESET 5 Example Page 2 Page 4 Page 5 Page 5 Page 6 Page 9 Page 10 Page 10 Page 13 Page 20 Page 21 Page 22 Page 23 Page 24 Page 25 Appendix Page 32 1 English Translation by Tribotix Pty Ltd www tribotix com 1 1 Overview amp Characteristics of ...