CanServo/Protocol/V1.2
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Write Command
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'p' | Write 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI | |
| 4 | DATA BYTE 0 (Low) | |
| 5 | DATA BYTE 1 (High) |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'P' | Write 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR 0 LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
| 4 | DATA 0 BYTE 0 (Low) | |
| 5 | DATA 0 BYTE 1 (High) | |
| 6 | DATA 1 BYTE 0 (Low) | |
| 7 | DATA 1 BYTE 1 (High) |
- NOTE ! NO RETURN PACKET
Read Command
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'g' | Read 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'G' | Read 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR 0 LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
Write and Read Command
- Use 'o' instead of 'p' on Write Command
Return Packet
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'y' | Return 2 byte |
| 1 | SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI | |
| 4 | DATA BYTE 0 (Low) | |
| 5 | DATA BYTE 1 (High) |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'Y' | Return 2 byte |
| 1 | SERVO ID | |
| 2 | ADDR LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
| 4 | DATA 0 BYTE 0 (Low) | |
| 5 | DATA 0 BYTE 1 (High) | |
| 6 | DATA 1 BYTE 0 (Low) | |
| 7 | DATA 1 BYTE 1 (High) |