Futaba RS302CD - Manual (Page 16)

16
● 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
This field denotes the beginning of the packet. For a short packet, the header is FDDFH.
This field represents the servo ID.
This field represents the flags which are set in the packet. Each bit shown in the table below
represents a servo state.
Table 4.3 Return packet flags
This field represents the servo memory map address No.
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
This field represents the number of servos. For a return packet, 1 is always set here.
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.
Bit Value Function
7 0:Normal, 1:Error Temperature error(Torque off over temperature limit)
6 N/A Reserved
5 0:Normal, 1:Error Temperature alarm
4 N/A Reserved
3 N/A Reserved
2 N/A Reserved
1 0:Normal, 1:Error Received packet error
0 N/A Reserved
Header ID Flags Address Length Count Data Sum
ID
Flags
Header
Address
Length
Count
Sum