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	4	+|(% style="width:150px" %)Header|(% style="width:300px" %)# or *|(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
	5	+| | |ID[19]|Request/Response (0:Request 1:Response)|# = 0, * = 1
	6	+| | |ID[18]|Presence of command parameters|Set to 1 if there are parameters such as D commands, set to 0 if there are parameters such as Query commands, etc.
	7	+| | |ID[17]|Presence of sub-command id|Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
	8	+| | |ID[16]|Presence of sub-command parameter|Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
	9	+(SD/T requires a parameter, so currently if ID[17] is 1, ID[16] will also be 1.)
	10	+|ServoID|Servo ID|ID[15-8]|Source ID|
	11	+| | |ID[7-0]|Destination ID|
	12	+|Command|Action Command (ex. RESET, D, etc..)
	13	+Query Command (ex. QID, QD, etc...)
	14	+Configuration Command (ex. CID, etc...)|DATA0|Command ID|See Command ID List.
	15	+|Value|Command Value|DATA1|Command parameter0|
	16	+| | |DATA2|Command parameter1|
	17	+| | |DATA3|Command parameter2|
	18	+| | |DATA4|Command parameter3|
	19	+|Modifier|Modifier Command (ex. SD, T, etc...)|DATA5|Sub-command ID|See Command ID List.
	20	+|Modifier Value|Modifier Command Value|DATA6|Sub-command parameter0|
	21	+| | |DATA7|Sub-command parameter1|
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