Manual

6. Command Examples

Request 4 Bytes of information from EEP Register 0x1E Address of Servo ID(253). 4 Bytes from

EEP Register 0x1E Address are e(Position Kp)and e(Position Kd).

Request to read Length # of values from EEP Register Address. Data length is 2Bytes

( Address 1Byte + Length 1Byte )

5-1. EEP_READ

0xFF

0 1 2 3 4

0x09(9)

Servo ID

0xFD

0x02

Header

EEP_READ

Example1

EEP_READ

Example1

Packet Size pID CMD

Data[0]

(Address)

0x1E

Data[1]

(Length)

0x04

7 8

Data

5 6

(Refer to Checksum formula)

0XEC 0X12

Check Sum1 Check Sum2

EEP READ

Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1]) & 0xFE

CHECKSUM1 Formula

Refers to starting address of EEP Register being Read, 0x1E(30) in the example is starting address

of Position Kp.

DATA[0]

Data[1], Refers to number of Bytes to be READ from the starting address, 0x04 in the example

means 4Bytes will be read. In other words, 4Bytes from Position Kp starting address will be read,

Position Kp(2Bytes variable)and Position Kd(2Bytes variable) will be read.

DATA[1]

7(Standad Size)+2(Data length)

Packet Size

Servo ID 0xFD(253)

pID

0x02 (Refer to Pg 40)

EEP READ CMD