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●Short Packet
Short packets are used for sending the data in the memory map toward a single servo.
Packet structure
Header ID Flags Address Length Count Data
Header
This is a line head of a packet. FAAFH is used for short packets.
"xH" denotes Hexadecimal number.
ID
This is a servo's ID. The valid numbers are from 1 through 127 (00H ~ 7FH). When ID is set to 255,
commands are commonly effective to all servos. The processor unit cannot obtain any data from servos
at this time.
Flags
Each bit has the following meaning.
Bit7： Reserved
Set this bit always at "0."
Bit6： Write in Flash ROM
Setting this bit to "1" (Flags=40H) and sending a packet of address=FFH, length = 00H
and count = 00H to a servo will write the data of the memory map from No.4 through
29(04H~1DH) into the non-volatile Flash ROM. It takes about 1 second for writing.
Packet Format
Table 4.1 Send packet flags
Bit
7
Reserved
6
Write in Flash ROM
5
Reboot servo
4
Initialize memory map data
3
2
Return-packet's address
1
0
Sum
Function
11
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