SERVO/PROTOCOL/CAN/V1.0/ENG
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FW Ver
- FW Ver >= 1.3
Write Command
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'w' | Write 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR | |
| 3 | DATA BYTE 0 (Low) | |
| 4 | DATA BYTE 1 (High) |
| 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
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'r' | Read 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR |
| 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
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'v' | Return 2 byte |
| 1 | SERVO ID | |
| 2 | ADDR | |
| 3 | DATA BYTE 0 (Low) | |
| 4 | DATA BYTE 1 (High) |
| 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) |