Manual

0xFF
1
0xFF
1
HeaderType
Value
Byte
0 ~ 0xFE
1
pIDType
Value
Byte
Indicates start of the Packet.
Header
Refers to total Packe size ( in Bytes ) from Header to Data. The maximum Packet Size 233, if the
packet size is larger than 223 Bytes, packet may not be recognized. Minimum packet size is 7
which is packet without any data.
Packet Size
Unique pID value can range from 0 ~ 253 which is total number of servos in the network.
Care must be taken when using pID value of “0xFE” which is a special value that affects all the
servos in the network.
※ To avoid confusion with Servo ID, ID within the packet is deonoted pID
pID
0x01 ~ 0x09 : Request Packet
0x41 ~ 0x49 : ACK Packet
1
CMDType
Value
Byte
CMD is actual instructions for the servo to perfom when packet is received. There are 9 types of
CMD in Request Packet EEP_WRITE(0x01), EEP_READ(0x02), RAM_WRITE(0x03), RAM_READ(0x04),
I_JOG(0x05), S_JOG(0x06), STAT(0x07), ROLLBACK(0x08), REBOOT(0x09). ACK Packet also has
equivalent set of CMD, but to distinquish from the Request CMD, ACK Packet adds 0x40.
For example, ACK Packet CMD for Request Packet EEP_WRITE(0x01)would be 0x41.
CMD
19