User Manual
北京博创兴盛机器人技术有限公司 UPTECH Robotics
TEL:+86-010-8211-4870, +86-010-8211-4887 FAX:Ext.828 http://robot.up-tech.com
Page 8 of 21
Instruction Function Value
Number of
parameter
PING No action. Used for obtaining a Status Packet
0x01 0
READ DATA Reading values in the Control Table 0x02 2
WRITE DATA Writing values to the Control Table 0x03 Not less than 2
REG WRITE Similar to WRITE_DATA, but stays in standby
mode until the ACION instruction is given
0x04 Not less than 2
ACTION Triggers the action registered by the
REG_WRITE instruction
0x05 0
RESET Changes the control table values of the
CDS55xx servos to the Factory default values
0x06 0
SYNC WRITE Used for controlling multiple CDS55xx servos
simultaneously
0x83 Not less than 4
2.4.1
WRITE DATA
Function: To write data into the control table of the CDS55xx servo
Length: N+3 (N is the number of data to be written)
Instruction: 0X03
Parameter1: Starting address of the location where the data is to be written
Parameter2: 1st data to be written
Parameter3: 2nd data to be written
Parameter N+1: Nth data to be written
Example 1 Setting the ID of a connected CDS55xx servo to 1
Write 1 to address 3 of the control table. The ID is transmitted
using the Broadcasting ID(0xFE).
Instruction Packet: 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6
HEADER ID LENGTH NSTRUCTION PARAMETERS CHECKSUM
0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6
Because it was transmitted with a Broadcast ID (0XFE), no status packets are returned.
2.4.2 READ DATA
Function Read data from the control table of a CDS55xx servo
Length 0X04
Instruction 0X02
Parameter1 Starting address of the location where the data is to be read
Parameter2 Length of the data to be read
Example 2 Reading the internal temperature of the CDS55xx servo with an ID
of 1
Read 1 byte from address 0x2B of the control table.
Instruction Packet:0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC
HEADER ID LENGTH NSTRUCTION
PARAMETERS CHECKSUM
0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC
The returned Status Packet will be as the following.
Status Packet : 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB