SERVO/PROTOCOL/CAN/V1.0/ENG

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)