Manual

CMD(0x03) Reply Packet
Default is no reply, reply possible by changing r(ACK Policy) setting
CMD(0x04) Reply Packet
May not reply depending on r(ACK Policy) setting.
CMD(0x05) Reply Packet
Default is no reply, reply possible by changing r(ACK Policy) setting
CMD(0x06) Reply Packet
Default is no reply, reply possible by changing r(ACK Policy) setting
r(Status Error, Status Detail) Reply, Always Reply regadless of r(Ack Policy)
CMD(0x08) Reply Packet
Default is no reply, reply possible by changing r(ACK Policy) setting
CMD(0x09) Reply Packet
Default is no reply, reply possible by changing r(ACK Policy) setting
Type CMD Explanation
RAM_WRITE
RAM_READ
I_JOG
S_JOG
STAT
ROLLBACK
REBOOT
0x43
0x44
0x45
0x46
0x47
0x48
0x49
41
Request to read Length # of values from EEG Register Address
Optional Data length is 2
Request to read Length # of values from RAM Register Address
Optional Data length is 2
Request to write Length # of values to EEG Register Address
Optional Data length is Address & Length 1 Byte each + Length Byte
Request to write Length # of values to RAM Register Address
Optional Data length is Address & Length 1 Byte each + Length Byte
Send instructions to multiple servos simultaneously, able to set position/time to each servo
independenltly. Able to set goal position time arrival time to each independently
I_Jog requires 5Bytes of data for each servo. Optional Data length of 50Bytes required
if sending instructions to 10 servos simultaneously
Able to send instructions to multiple servos simultaneousy, All serovs have same
operational timing. All servos arrive at goal position at same time.
S_Jog rquires 1byte for Playtime and 4Bytes for each servo. Optional Data length of
41Bytes required if sending instructions to 10 servos simultaneously
Request Servo Status r(Status Error, Status Detail)
STAT Packet always receive reply
Change all values in EEP_Register to Factory default value.
ID and Baud Rate maybe exempted from Factory Default by using ID Skip, Baud Skip Byte
Reboot Servo
CMD Explanation
EEP_READ
RAM_READ
EEP_WRITE
RAM_WRITE
I_JOG
S_JOG
STAT
ROLLBACK
REBOOT
5-3. CMD(Command) Detailed Explanation
※ ACK option changeable by using r(ACK Policy)
※ ACK Packet CMD is Request Packet CMD + 0x40
※ Last 2 Bytes of the ACK Packet includes r(Status Error, Status Detail)