User Tools

Site Tools


product:usb2ax:dynamixel_protocol_notes

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
Last revision Both sides next revision
product:usb2ax:dynamixel_protocol_notes [2015/02/09 10:25]
xevel
product:usb2ax:dynamixel_protocol_notes [2015/02/09 10:39]
xevel
Line 50: Line 50:
 Depending on when the motor-control interrupt fires, these time can increase by up to the duration of that interrupt (see below). Depending on when the motor-control interrupt fires, these time can increase by up to the duration of that interrupt (see below).
  
-WRITE_DATA to EEPROM memory will answer with the same delay, but then the servo will not answer to another command before many milliseconds (FIXME probably ​9*N **ms** based on the ATMega8 datasheet). ​+WRITE_DATA to EEPROM memory will answer with the same delay, but then the servo will not answer to another command before many milliseconds (up to 9 **ms** ​per byte based on the ATMega8 datasheet, though experimental verification put it at around 6 +/-1 ms per byte). 
  
 == Motor-control interrupt == == Motor-control interrupt ==
  
 The motor control interrupt runs every 1ms on an AX servo, and lasts about 130µs. during that time, no communication can occur, though incoming bytes are not lost. If it occurs in the middle of a packet, then that delay will be observed between two bytes, that would have been otherwise back to back. The motor control interrupt runs every 1ms on an AX servo, and lasts about 130µs. during that time, no communication can occur, though incoming bytes are not lost. If it occurs in the middle of a packet, then that delay will be observed between two bytes, that would have been otherwise back to back.
product/usb2ax/dynamixel_protocol_notes.txt · Last modified: 2015/02/10 18:39 by xevel