CanServo/ReadPosition/en

• The current position of the servo is in Register 0x0C CanServo/POSITION/en.
  • If the motion angle is likely to exceed 360 degrees, we recommend using CanServo/POSITION-32/LOW/en
• There are two methods.
• Read Command
  • Sends a message that reads the address 0x0C of the position value.
  • The corresponding servo reports its own position value.

• Outgoing/returning packet format

Host -> Servo: CAN ID = <Target ID2>, DATA = 'r', <Target ID1>, <Address of Register>, DLC = 3
Servo -> Host: CAN ID = <Servo's ID2>, DATA = 'v', <Servo's ID1>, <Address of Register>, <Low Byte>, <High Byte>, DLC=5

• Example: broadcast to all servos, servo1 (ID1=5, ID2=15, position value=0x1234, Type=CAN 2.0B), servo2 (ID1=6, ID2=15, position value=0x3344, Type=CAN 2.0B)

Host -> Servo: CAN ID = 0, CAN=EXT, DATA = 'r', 0, 0x0C, DLC = 3
Servo1 -> Host: CAN ID = 15, CAN=EXT, DATA = 'v', 5, 0x0C, 0x34, 0x12, DLC=5
Servo2 -> Host: CAN ID = 15, CAN=EXT, DATA = 'v', 6, 0x0C, 0x44, 0x33, DLC=5

• Example: Specific servo: Servo ID=10, Servo CAN ID=0x123, Type=CAN 2.0B, current position value = 0x1122

Host -> Servo: CAN ID = 0x123, CAN=EXT, DATA = 'r', 10, 0x0C, DLC=3
Servo -> Host: CAN ID = 0x123, CAN=EXT, DATA = 'v', 10, 0x0C, 0x22, 0x11, DLC=5

• For the format of Read/Write Command and Return message, refer to SERVO/PROTOCOL/CAN/V1.0/ENG.

• Using the Stream function
  • When the CanServo/Stream/en function is turned on, the servo transmits information such as its own position value.
  • If there is additional information you want, specify it in CanServo/Stream/Address/en.

• For reference, the servo ID is set through CanServo/ID1/en and the servo CAN ID is set through CanServo/ID2/en.