Detailed Asynchronous Mode and Applications
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1. Detailed Asynchronous Command Explanation
1.1 An asynchronous command consists of two parts: the asynchronous write command and the asynchronous execute command.
1.2 After the asynchronous write command is sent, send the motion command that needs to be executed. This temporarily stores the motion command in the register of the corresponding ID servo. The motion command will not execute immediately; it must be started together through the asynchronous execute command.
1.3 When the asynchronous execute command is issued, all servo units with temporarily stored motion commands execute their corresponding actions at the same time, achieving synchronized control of multiple servo units.
1.4 A temporarily stored motion command remains saved as long as it is not rewritten and power is not turned off. It will not be overwritten or cleared by other commands.
1.5 After an asynchronous command is triggered for execution, the related parameters are automatically cleared and are no longer retained. After this command is sent, online servo units cache the next received command. After they receive the asynchronous execute command, they execute it immediately. The detailed rules are as follows:
1.5.1 This applies to all online servo units. After receiving this command, they enable the cache area.
1.5.2 The following commands can be cached:
| Packet ID | Function |
|---|---|
| 8 | Angle mode control |
| 11 | Angle mode control (based on acceleration/deceleration time) |
| 12 | Angle mode control (based on target speed) |
| 13 | Multi-turn angle mode control |
| 14 | Multi-turn angle mode control (based on acceleration/deceleration time) |
| 15 | Multi-turn angle mode control (based on target speed) |
2. Packet Example
Asynchronous write packet (fixed)
0x12 0x4c 0x12 0x00 0x70
Request packet (example: servo No. 2 rotates to 90 degrees in 500 ms)
0x12 0x4c 0x08 0x07 0x02 0x84 0x03 0xf4 0x01 0x00 0x00 0xeb
Asynchronous execute packet (fixed). After receiving this command, the request packet is executed immediately.
0x12 0x4c 0x13 0x01 0x00 0x72