Protocol and parameters¶
Use this section as a reference. For your first connection or run, start with Get started. Model-specific addresses, units, modes and limits require the formal documentation for that model and firmware. All memory tables are summarized under Memory Table Parameters.
| Confirmed family/interface | Reference | Boundary |
|---|---|---|
| SCS / SCSCL | SCSCL memory-table guide | Do not substitute STS/SMS or HLS addresses and units |
| STS | STS memory-table guide | Half-duplex TTL; confirm the exact model and firmware |
| SMS | SMS memory-table guide | RS485; same addresses as STS, different interface |
| HLS | HLS memory-table guide | Use the HLS application layer and matching document revision |
| SMSMB | SMSMB memory-table guide | Standard MODBUS-RTU protocol; addresses are not shared with the serial families |
| SHC | SHC memory-table guide | CANopen over CAN bus; addressed by object-dictionary index and sub-index, not shared with the serial families |
| UAVCAN | UAVCAN memory-table guide | CAN bus paged registers (page ×64 + index); address structure differs from all other families |
| PWM | PWM getting started | No serial-bus registers, IDs or baud rates |
| Application layer unconfirmed | Find model resources | TTL / RS-485 alone does not establish memory-table compatibility |
Look up a parameter¶
- Confirm the full model suffix, firmware and formal memory-table revision.
- Identify the address, length, units, allowed range and read/write permissions.
- Check persistence, torque-enable state, operating mode and conditions for changes. Do not assume a temporary setting survives power loss.
- Read through the matching application layer first; change one item only under confirmed conditions and record the result.
Packet format and commands support protocol diagnosis; SDK guides support everyday development. Similar packet framing does not make memory tables interchangeable.