..: Dynamixel ... ..: Closer to Real, ... ..: User’s Manual 2006-06-14 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