View source for SERVO/PROTOCOL/CAN/V1.0/ENG

== Write Command ==

{| class="wikitable"
|-
! POS
! NAME
! COMMENT
|-
| 0
| 'w'
| Write 2 byte
|-
| 1
| TARGET SERVO ID
|
|-
| 2
| ADDR
|
|-
| 3
| DATA BYTE 0 (Low)
|
|-
| 4
| DATA BYTE 1 (High)
|
|}

{| class="wikitable"
|-
! POS
! NAME
! COMMENT
|-
| 0
| 'W'
| Write 2x2 byte
|-
| 1
| TARGET SERVO ID
|
|-
| 2
| ADDR-A
|
|-
| 3
| DATA-A BYTE 0 (Low)
|
|-
| 4
| DATA-A BYTE 1 (High)
|
|-
| 5
| ADDR-B
|
|-
| 6
| DATA-B BYTE 0 (Low)
|
|-
| 7
| DATA-B BYTE 1 (High)
|
|}

* NOTE ! NO RETURN PACKET

== Read Command ==

{| class="wikitable"
|-
! POS
! NAME
! COMMENT
|-
| 0
| 'r'
| Read 2 byte
|-
| 1
| TARGET SERVO ID
|
|-
| 2
| ADDR
|
|}

{| class="wikitable"
|-
! POS
! NAME
! COMMENT
|-
| 0
| 'R'
| Read 2x2 byte
|-
| 1
| TARGET SERVO ID
|
|-
| 2
| ADDR-A
|
|-
| 3
| ADDR-B
|
|}

== Write and Read Command ==

* Use 'x' and 'X' instead of 'w' and 'W' on Write Command

== Return Packet ==

{| class="wikitable"
|-
! POS
! NAME
! COMMENT
|-
| 0
| 'v'
| Return 2 byte
|-
| 1
| SERVO ID
|
|-
| 2
| ADDR
|
|-
| 3
| DATA BYTE 0 (Low)
|
|-
| 4
| DATA BYTE 1 (High)
|
|}

{| class="wikitable"
|-
! POS
! NAME
! COMMENT
|-
| 0
| 'V'
| Return 2x2 byte
|-
| 1
| SERVO ID
|
|-
| 2
| ADDR-A
|
|-
| 3
| DATA-A BYTE 0 (Low)
|
|-
| 4
| DATA-A BYTE 1 (High)
|
|-
| 5
| ADDR-B
|
|-
| 6
| DATA-B BYTE 0 (Low)
|
|-
| 7
| DATA-B BYTE 1 (High)
|
|}