Futaba RS302CD - Manual (Page 15)

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This indicates an address on the memory map. Using this address makes it possible to write
the data of the specified number of bytes determined by the “Length” into the memory maps of
multiple servos.
This is used to specify the number of bytes of the data for a servo.
Length = the number of bytes of data + 1
This notation indicates the number of servos that data is sent to. VID and data are sent to all of
them.
This field represents the ID of each servo which sends data. Data corresponding to the number of
servos is sent with VID and Data as one set.
This field is the data of one servo which is written to the memory map. Data corresponding to
the number of servos is written with VID and Data as one set.
This field is made up of eight bits which represent the check sum of the packet. The check sum
is the XOR, in byte units, of the set bits from the ID field to the end of the Data field of the
packet string. If there is a packet of 2 bytes or more between the ID and DATA fields, delimit it
into single bytes before XORing.
Hdr ID Flg Adr Len Cnt VID Dat VID Dat VID Dat Sum
The check sum of the send data above is:
00H
XOR 00H XOR 1EH XOR 03H XOR 03H XOR 01H XOR 64H XOR 00H XOR 02H XOR 64H
XOR 00H XOR 05H XOR F4H XOR 01H
Address
Length
Count
Data
Sum
FA AF 00 00 1E 03 ED 64 00 03
VID
01 64 00 02 F4 01 05