Futaba RS302CD - Manual (Page 27)

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● No.46/No.47 Present Speed（２ Byte,Hex Number,Read）
You can get the servo’s current rotation speed on deg/sec basis.
Ex.）To read the current rotation speed of the servo in ID=1
If you want to get the values of No.46 and No.47 in the servo’s memory map as return
packets, send the packets with the bits of 1 to 3 in the “Flag” set to bit3=1、bit2=0、bit1=0
and bit0=1. After sending, the values for the items between No.42 and No.59 in the
memory map will be sent back to you from the servo.
(Please refer to Flags for “Send-Packet” on Page 11 for details.)
If you send only flags, set [COUNT] =1 with [ADRESS]=0 and [LENGTH]=0, and
nothing should be written in「Data」.
Send flags for return packets between No.42 and No.59 in the memory map.
Hdr ID Flg Adr Len Cnt Sum
Return Packet
Hdr ID Flg Adr Len Cnt Dat Sum
Memory Map No. 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
The present rotation speed is 012CH (300deg/sec), which is identified by the values of
No.46 and No.47 in the return packet. If you change the unit of the incoming data to a
decimal number, the values show angle rates since the incoming data is based on deg/sec.
● No.48/No.49 Present Load（２ Byte,Hex Number,Read）
This shows the load (electric current) on the servo.
The data can be read on mA basis. Please use this data just as a guide since there are
servos, which do not show “0” in case of no load.
Ex.）To read the current load on the servo in ID=1
If you want to get the values of No.48 and No.49 in the servo’s memory map as return
packets, send the packets with the bits of 3 to 0 in the “Flags” set to bit3=1,bit2=0,bit1=0
and bit0=1. After sending, the values for the items between No.42 and No.59 in the
memory map will be sent back to you from the servo. Read the data that fall under No.48
and No.49. (Please refer to Flags for “Short Packet” on Page 12 for details.)
If you send only flags, set [COUNT] =1 with [ADRESS]=0 and [LENGTH]=0, and
nothing should be written in ”Data”.
FA AF 01 09 00 00 01 09
FD DF 01 00 2A 12 3D 01 5C FF 37 02 2C 01 07 00 BA 03 00 00 00 00 00 00 00 00