Return Packet - FUTABA RS301CR Instruction Manual

●Return Packet
A return packet is the packet returned from the servo when the Flag field requests a
servo to send a return packet.
Packet structure
Header ID Flags Address Length Count Data
Header This field denotes the beginning of the packet. For a short packet, the header is FDDFH.
ID
This field represents the servo ID.
Flags
This field represents the flags which are set in the packet. Each bit shown in the table below
represents a servo state.
Bit Value
7 0:Normal, 1:Error
6 N/A
5 0:Normal, 1:Error
4 N/A
3 N/A
2 N/A
1 0:Normal, 1:Error
0 N/A
Address
This field represents the servo memory map address No.
Length
This field represents the length of one data block. The length of one return packet data block
is: Length = Number of return VID + Data bytes
Count
This field represents the number of servos. For a return packet, 1 is always set here.
Sum This field is the check sum. It is the XOR, in byte units, of all the set bits from the ID field to the
end of the data field of a command packet.
Sum
Table 4.3 Return packet flags
Temperature error(Torque off over temperature limit)
Reserved
Temperature alarm
Reserved
Reserved
Reserved
Received packet error
Reserved
16
Function