Manual

Data[0]
(Address)
0x1E
Data[1]
(Length)
0x04
Data[4]
(Status Error)
0x00
Data[5]
(Status Detail)
0x00
7 8 9 1 0 1 1 1 2 1 3 1 4
Data[2]
0xB8
Data[3]
0x01
Data[4]
0x40
Data[5]
0x1F
Data
Data[0]
(Address)
0x1E
Data[1]
(Length)
0x04
7 8 9 1 1 1 2 1 3
Data[2]
0XC8
Data[3]
0X00
Data[4]
0XE8
Data[5]
0X03
Data
CMD : Request Packet CMD(0x02) + 0x40, Reply with 0x42
e(Position Kp) : 440(0x1B8)
Position Kd : 8000(0x1F40)
Last 2Bytes of all ACK Packet contain Status Error(1Byte) and Status Detail (1Byte)
ID(253), e(Position Kp) / Kd(Address 0x1E=30, 4Bytes Register) Kp = 200(0x00C8),
Kd = 1000(0x03E8) Write
6-2. EEP_WRITE
0xFF
0xFF
0xFF
0xFF
0 1 2 3 4 5 6
7+(2+Length)
0x0D(13)
Servo ID
0xFD
0x01
0x01
(Refer to Checksum Formula)
0XC8 0X36
Header
EEP_WRITE
Example1
Packet Size pID CMD Check Sum1 Check Sum2
Data[2], Data[3] will be changed to e(Position Kp) and Data[4], Data[5] will be changed to
e(Position Kp). You must input Byte in reverse order by Little Endian rule.
Data[2] ~ Data[5]
To apply changed EEP Register value, Servo has to be reboot first.
EEP Register
0xFF 0xFF
0 1 2 3 4 5
6
0x0F 0xFD 0x42 0x4C 0xB2
Header
EEP_READ
ACK of Example1
Packet Size pID CMD Check Sum1 Check Sum2
ACK Packet
※ Refer to Pages 23 for Little Endian.
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