User Manual
北京博创兴盛机器人技术有限公司 UPTECH Robotics
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2.3 Status packet
The Status Packet is the response packet from the CDS55xx servos to the Main
Controller after receiving an instruction packet. The structure of the status packet is as the
following.:
HEADER ID
LENGTH ERROR PARAMETER CHECK SUM
0XFF 0XFF ID Length Status Parameter1 ...Parameter N Check Sum
The meanings of each packet byte definition are as the following.
HEADER The two 0XFF bytes indicate the start of the packet.
ID The unique ID of the CDS55xx unit returning the packet. The initial
value is set to 1.
LENGTH The length of the packet where its value is “Number of
parameters (N) + 2”
ERROR The byte representing errors sent from the CDS55xx unit. The
meaning of each bit is as the following.
BIT Name Details
BIT7 0 ---
BIT6 Instruction Error Set to 1 if an undefined instruction is sent or an action instruction is
sent without a Reg_Write instruction.
BIT5 Overload Error Set to 1 if the specified maximum torque can't control the applied
load.
BIT4 Checksum Error Set to 1 if the checksum of the instruction packet is incorrect.
BIT3 Range Error Set to 1 if the instruction sent is out of the defined range.
BIT2 Overheating
Error
Set to 1 if the internal temperature of the CDS55xx unit is above the
operating temperature range as defined in the control table.
BIT1 Position Limit
Error
Set as 1 if the Goal Position is set outside of the range between CW
Angle Limit and CCW Angle Limit.
BIT0 Input Voltage
Error
Set to 1 if the voltage is out of the operating voltage range as defined
in the control table.
PARAMETER0…N Used if additional information is needed.
CHECK SUM The computation method for the ‘Check Sum’ is as the
following.
Check Sum = ~ (ID + Length + Instruction + Parameter1 + ...
Parameter N)
If the calculated value is larger than 255, the lower byte is defined
as the checksum value.
~ represents the NOT logic operation.
2.4 Instruction Set
The following Instructions are available.