DYNAMIXEL
AX-12
Contents
1. Summary
1-1. Overview and Characteristics of AX-12 Page 2
1-2. Main Specifications Page 3
2. Dynamixel Operation
2-1. Mechanical Assembly Page 4
2-2. Connector Assembly Page 5
2-3. Dynamixel Wiring Page 6
3. Communication Protocol
3-1. Communication Overview Page 9
3-2. Instruction Packet Page 10
3-3. Status Packet Page 10
3-4. Control Table Page 12
4. Instruction Set and Examples
4-1. WRITE_DATA Page 19
4-2. READ_DATA Page 20
4-3. REG WRITE and ACTION Page 20
4-4. PING Page 21
4-5. RESET Page 22
4-6. SYNCWRITE Page 23
5. Example
Page 24
Appendix
Page 30
1
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