Futaba RS302CD - Manual (Page 20)

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No.7 Return Delay（１ Byte,Hex Number,Read/Write）
This indicates the delay time for reply when the return packet is required.
The servo sends the return packet in 100μs after receiving data with the setting of 0.
The parameters of No.7 are in units of 001H = 50μs.
If you want to set the delay time for reply to 1ms, write 18 (12H). （1ms=100μs+18x50μs）
Hdr ID Flg Adr Len Cnt Dat Sum
●No.8~No.11 Angle Limit(2Bytes, Hex Number, Read/Write)
These data specify the CW (clockwise rotation), CCW (counterclockwise rotation), and
maximum operating angle based on 0 degree. Set these bits to match the usage
environment.
The rotation limit angle is the maximum value, which can be initially set (±123
degrees). Never set an angle exceeding this value, because the servo may be damaged.
Even if a command value greater than the rotation limit angle is given, the maximum
operating angle is not exceeded.
The setting range is
CW Angle Limit →0°(0000H) ～ +150°(05DCH)
CCW Angle Limit →0°(0000H) ～ -150° (FA24H).
Ex. 1) Set the CW angle limit of servo ID=1 to 100.0 degrees.
Since the angle is set in 0.1 degree units, when 100.0 degrees is specified, 1000(03E8H) is
set. CW Angle Limit L = E8H, CW Angle Limit H = 03H
Hdr ID Flg Adr Len Cnt Dat Sum
Ex. 2) Set the CCW set values of servo ID=1 to -100.0 degrees (FC18H).
CCW Angle Limit L = 18H , CCW Angle Limit H = FCH
Hdr ID Flg Adr Len Cnt Dat Sum
●No.14 / No.15 Temperature Limit(2Bytes, Hex Number, Read Only)
If an overload is applied to a servo, the heat generated by the motor, etc. will cause the
internal temperature to rise. If the internal temperature exceeds the temperature set here,
the torque will be disabled so trouble will not occur at the servo and the red LED on the
servo will light. To reset the stopped state, send a No. 36 Torque Enable command.
FA AF 01 60 07 01 74 01 12
FA AF 01 00 08 02 E1 01 E8 03
FA AF 01 00 08 02 EE 01 18 FC