Instructions

D-series SERVO Serial Control manual
*Communication Parameter : Baud rate - 115,200bps, stop bit - 1, parity - none
*Interface Circuit Diagram :
**Q1 must be off to receive data from the servo
1. Packet Format
V1.05
1. Packet Format
* Data format - Little Endian
* Check Sum = (ID + Address + REG Length + Data_L + Data_H)%256
A. Normal Write
* Data write to SERVO
B. Normal Read
1) Request a response to SERVO
2) Response from SERVO
WRITE
ID Address
REG DATA DATA CHECK
HEADER LENGTH High SUMLow
0x96 0xXX 0xXX 0x02 0xXX 0xXX 0xXX
WRITE
ID Address
REG CHECK
HEADER LENGTH SUM
DATA CHECK
0x96 0xXX 0xXX 0x00 0xXX
RETURN
ID
Address
REG DATA
C. Configuration change
1) Data write to SERVO
2) Send the save command to the SERVO
2. Example
A. Move to Neutral(PWM 1500us) Position(Position Data : 3000 )
1) Data write to SERVO
HEADER LENGTH Low High SUM
ID
Address
0xXX
0x96
00
1E
02
B8
0B
E3
WRITE
ID
0x69 0xXX 0xXX 0x02 0xXX 0xXX
Address
REG DATA DATA CHECK
HEADER LENGTH Low High SUM
0xXX
WRITE
ID Address
REG
0x96 0xXX 0xXX 0x02 0xXX 0xXX
0700x96 0xXX 0x70 00
CHECK
HEADER LENGTH SUM
*No response from servo
B. Current Position Read
1) Data write to SERVO
2) TXD disable for data receive(
Data Return Delay(Typ. 20ms)
* The S-BUS must "HIGH" during the delay time.(Please refer interface circuit)
3) Response from SERVO
* Current Position is 0x0BB8
C. Change Configuration - 2Byte write to User define memory#1(Data : 3000)
1) Data write to SERVO
2) Config save command write to SERVO
0x96
00
1E
02
B8
0B
E3
0x96 00 0C 00 0C
0x69 00 0C 02 B8 0B D1
0x96 00 26 02 B8
0x96
00
70
00
070
0B EB
0x96
00
70
00
070
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