Rev 1.06EN HITEC RCD, INC.
INDEX
1 D Series SERVO Control Protocol ........................................................................................................................................ 3
1-1 Protocol ..................................................................................................................................................... 3
1-2 Communication System ..................................................................................................................... 3
1-3 Test Configuration ................................................................................................................................ 3
1-4 External User’s Signal Transceiver ................................................................................................. 4
TTL Communication Circuit ....................................................................................................................... 4
RS-485 Communication Circuit................................................................................................................ 4
1-5 Packet Format ........................................................................................................................................ 5
Header ................................................................................................................................................................. 5
ID............................................................................................................................................................................ 5
Address ............................................................................................................................................................... 6
Register Length ............................................................................................................................................... 6
Data ...................................................................................................................................................................... 6
Check Sum ......................................................................................................................................................... 7
2 D Series SERVO Register ....................................................................................................................................................... 8
2-1 Address Table ......................................................................................................................................... 8
2-2 Status.......................................................................................................................................................... 9
REG_POSITION ................................................................................................................................................. 9
2-3 Action ......................................................................................................................................................... 9
REG_POSITION_NEW .................................................................................................................................... 9
2-4 Configuration ........................................................................................................................................ 10
REG_ID .............................................................................................................................................................. 10
REG_FAILSAFE_SET ...................................................................................................................................... 10
REG_DEADBAND .......................................................................................................................................... 11
REG_VELOCITY_MAX .................................................................................................................................. 11
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