request:
a0 a0 a0 a0 00 01 21 01 00 72 [length] 00 04 [4 subpackets] 00 1c [length subpacket 1] 00 01 00 01 00 a4 [get controlled axis] 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c [length subpacket 2] 00 01 00 01 00 89 [get axis names] 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c [length subpacket 3] 00 01 00 01 00 56 [get servo load] 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c [length subpacket 4] 00 01 00 01 00 a4 [get controlled axis] 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
response:
a0 a0 a0 a0 00 04 21 02 01 56 00 04 00 12 00 01 00 01 00 a4 00 00 00 00 00 00 00 02 [length payload] 00 04 [4 controlled axes] 00 20 00 01 00 01 00 89 00 00 00 00 00 00 00 10 [length payload] 58 00 00 00 59 00 00 00 5a 00 00 00 42 00 00 00 ['X' 'Y' 'Z' 'B'] 01 10 00 01 00 01 00 56 00 00 00 00 00 00 01 00 [length payload] 00 00 00 00 00 0a 00 00 ff ff ff fd 00 0a 00 00 [32 (MAX_AXIS) values] 00 00 00 21 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 12 00 01 00 01 00 a4 00 00 00 00 00 00 00 02 [length payload] 00 04 [4 controlled axes]