Futaba RS302CD - Manual (Page 26)

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If you send only flags, set [COUNT] =1 with [ADRESS]=0 and [LENGTH]=0, and
nothing should be written in「Data」.
Hdr ID Flg Adr Len Cnt Dat Sum
Return Packet
Hdr ID Flg Adr Len Cnt Sum
Memory Map No. 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
As the 2 bytes from the beginning of the return packet data are memory map address
Nos. 42 and 43, the present position is 0384H(90.0 degrees).
●No.44 / No.45 Present Time(2Bytes, Hex Number, Read Only)
The present time is the time that has elapsed from reception of the command by the
servo to the start of movement. When movement is complete, the present time is held last
data.
Ex.) Read the present time of servo ID=1.
To obtain the value of memory map address Nos. 44 and 45 of the servo as a return
packet, send a Flag bit3=1, bit2=0, bit1=0, bit0=1 send packet. After this packet is sent, the
value of memory map address Nos. 42 to 59 is returned from the servo. (See the Flags item
of “Short packet” on p.11 for more information.)
If you send only flags, set [COUNT] =1 with [ADRESS]=0 and [LENGTH]=0, and
nothing should be written in「Data」.
Hdr ID Flg Adr Len Cnt Dat 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 value 0237H (5670ms) from memory map address Nos. 44 and 45 of the return
packet is the present time. (As the receive data is in 10ms units, when multiplied by 10, the
receive data becomes ms units.)
FA AF 01 09 24 01 2D 01 01
FD DF 01 00 2A 12 00 01 5C FF 37 02 00 00 07 00 BA 03 00 00 00 00 00 00 00 00
FA AF 01 09 24 01 2D 01 01
FD DF 01 00 2A 12 00 01 84 03 00 00 00 00 06 00 BA 03 00 00 00 00 00 00 00 00