HLS Memory Table¶

For HLS half-duplex TTL servos. A 16-bit value is serialized low byte first. HLS addresses 44–45 are goal torque, unlike goal time in SMS/STS.

The addresses below match the HLSCL application layer in the official FEETECH SDK. Read and write two-byte values with this layer's byte order.

Read-only persistent area¶

Address	Length	Name	Access
3–4	2 bytes	Model identifier	Read only

Address	Length	Name	Access
5	1 byte	Device ID	Read/write
6	1 byte	Baud-rate code	Read/write
7	1 byte	Secondary ID	Read/write
9–10	2 bytes	Minimum angle limit	Read/write
11–12	2 bytes	Maximum angle limit	Read/write
26	1 byte	Clockwise deadband	Read/write
27	1 byte	Counterclockwise deadband	Read/write
31–32	2 bytes	Position offset	Read/write
33	1 byte	Operating mode	Read/write

Address	Length	Name	Access
40	1 byte	Torque enable	Read/write
41	1 byte	Acceleration	Read/write
42–43	2 bytes	Goal position	Read/write
44–45	2 bytes	Goal torque	Read/write
46–47	2 bytes	Goal speed	Read/write
48–49	2 bytes	Torque limit	Read/write
55	1 byte	Lock flag	Read/write

Address	Length	Name	Access
56–57	2 bytes	Present position	Read only
58–59	2 bytes	Present speed	Read only
60–61	2 bytes	Present load	Read only
62	1 byte	Present voltage	Read only
63	1 byte	Present temperature	Read only
66	1 byte	Moving status	Read only
69–70	2 bytes	Present current	Read only

Addresses are decimal. A two-byte field occupies the listed start address and the next address.
Persistent fields change device configuration. Record the original value and connect only one servo before changing ID, baud rate, mode, limits, or offset.
The table covers commonly exposed addresses in the current official SDK. Units, ranges, defaults, and write conditions depend on the exact model and firmware.
Read the model identifier and current settings before writing. Keep the first movement slow, small, and unloaded.

Do not reuse addresses across families

The same address can mean something else in another application layer. Return to Bus Protocol and select the matching memory table.