Data Sheet

Requested and ACK Packets
Main controller communicates with the servos in the UART network by sending
a requested packet and receiving ACK packet back from the servo. Regardless of the
number of servos in the network, only the servo with correct ID will acknowledge
request packet and send the ACK packet to the main controller.
There are 9 UART command packets, as listed below, can be send from the master to
servo controllers:
(1) EEP_WRITE EEPROM parameters write
(2) EEP_READ EEPROM parameters read
(3) RAM_WRITE RAM parameters write
(4) RAM_READ RAM parameters read
(5) I_JOG independent control move
(6) S_JOG synchronous control move
(7) STAT read servo status
(8) ROLLBACK reset all parameters to default values
(9) REBOOT reset servo.
The servo controller may report ACK packets accordingly. The detail description of
Requested and ACK packets are explained in Table1 through Table 9.