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2		-
3		-|(% colspan="2" rowspan="1" %)Data format on USB-Serial|(% colspan="3" rowspan="1" %)Data format on CAN-Bus
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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