Communication 2.0

- Protocol 2.0 supported devices: XL-320 , Dynamixel Pro

- Protocol 2.0 supported controllers: CM-150 , CM-200

- Other: 2.0 protocol from R+ Smart app

 

Communications circuit: Dynamixel PRO can communicate digitally. For proper communications the main controller must be equipped with proper communications circuitry. Refer to Dynamixel PRO model for any necessary requirements in communications circuitry in the main controller.

 

Packet

Dynamixel PRO and the main controller communicate by sending and receiving data called a packet. There are 2 types of packets. An instruction packet is a packet sent from main controller to Dynamixel PRO. A status packet is a packet sent from Dynamixel PRO to the main controller.

 

Role of ID

An ID allows a Dynamixel to have a unique identifier and connect multiple Dynamixels to a single bus. The main controller can control Dynamixels by ID in both instruction and status packets.

If more than 1 Dynamixel have the same ID thenthere will be a problem with communications due to conflict with the packet. To prevent this situation from happening ensure no 2 Dynamixels have the same ID number.

Change of Dynamixel ID number is available.

The factory default settings for ID is 1.

 

Dynamixel protocol 2.0

Previously both Dynamixel and Dynamixel PRO implemented a different protocol. TO verify protocol version please refer to both instruction and status packet.