HITEC SERVO D Series - 1-5 Packet Format; 1-5.1 Header; 1-5.2 ID

5
D series SERVO(TTL/RS485) Protocol Manual
Rev 1.06EN HITEC RCD, INC.
1-5 Packet Format
Packet Format is divided into 6 areas such as Header, ID, Address, REG Length, Data, Check
Sum as follow.
- Data format - Little Endian
- Check Sum = (ID + Address + REG Length + Data Low + Data High) & 0xFF
⚫ Normal Write
- Data write to Servo
Write
Header
0x96
ID
0xXX
Address
0xXX
REG
Length
0x02
Data
Low
0xXX
Data
High
0xXX
Check
Sum
0xXX
⚫ Normal Read
- Request a response to SERVO
Write
Header
0x96
ID
0xXX
Address
0xXX
REG
Length
0x00
Check
Sum
0xXX
- Response from SERVO
Return
Header
0x69
ID
0xXX
Address
0xXX
REG
Length
0x02
Data
Low
0xXX
Data
High
0xXX
Check
Sum
0xXX
Header
Packet starts with Byte. Every Protocol Packet should start with Header Byte. Packets
sent from the controller to SERVO begin with 150 (0x96), and packets returned by the
SERVO to the controller begin with 105 (0x69).
ID
It shows Byte which represents the unique ID of SERVO to receive the packet.
The corresponding packet is recognized only in the servo that matches the ID of the
packet. Unmatched servo will not respond. ID can be specified from 0 to 255.
⚫ Packets whose ID is set to 0 (0x00) are recognized as the same parameters in all
servo regardless of the SERVO unique ID.
Header
ID
Address
REG
Length
Data
Low
Data
High
Check
Sum
Header
ID
Address
REG
Length
Data
Low
Data
High
Check
Sum