Robotis dynamixel AX-12 - READ_DATA Function; REG_WRITE and ACTION

DYNAMIXEL
AX-12
Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6`
ID LENGTH INSTRUCTION PARAMETERS CHECKSUM
Because it was transmitted with a Broadcast ID (0XFE), no status packets are returned.
4-2. READ_DATA
Function Read data from the control table of a Dynamixel actuator
Length 0X04
Instruction 0X02
Parameter1 Starting address of the location where the data is to be read
Parameter2 Length of the data to be read
Example 2
Reading the internal temperature of the Dynamixel actuator with an ID of 1
Read 1 byte from address 0x2B of the control table.
Instruction Packet : 0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC`
ID LENGTH INSTRUCTION PARAMETERS . CHECKSUM
The returned Status Packet will be as the following.
Status Packet : 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB
ID LENGTH ERROR PARAMETER1 CHECKSUM
The data read is 0x20. Thus the current internal temperature of the Dynamixel actuator
is approximately 32°C (0X20).
4-3. REG_WRITE과 ACTION
4-3-1. REG_WRITE
Function The REG_WRITE instruction is similar to the WRITE_DATA instruction, but the
20