Data Sheet

Table 1: Requested and ACK packets data string
bytes 1 2 3 4 5 6 7 8~107
description
header header packet
size N
packet
ID
CMD check_
sum_1
check_
sum_2
data[i]
Requested
packet
0xFF 0xFF 7~107 1~20,
254 (#)
0x01~
0x09
(*) (**) ...
ACK
packet
0xFF 0xFF 7~107 1~20 0x40~
0x49
(*) (**) ...
Note: (#) When packet ID=254, broadcast ID, none of any servo will send ACK packet
(*) check_sum_1 = (N^ID^CMD^data[0]^data[1]^...^data[N-8]) & 0xFE
(**) check_sum_2 = (~check_sum_1) & 0xFE
Table 2: Requested and ACK packets CMDs
Requested packet CMD
EEP_
WRITE
EEP_
READ
RAM_
WRITE
RAM_
READ
I_JOG S_JOG STAT ROLLBACK REBOOT
0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09
ACK packet CMD
EEP_
WRITE
EEP_
READ
RAM_
WRITE
RAM_
READ
I_JOG S_JOG STAT ROLLBACK REBOOT
0x41 0x42 0x43 0x44 0x45 0x46 0x47 0x48 0x49