CanServo/Register/Write/en
Jump to navigation
Jump to search
PLEASE READ THE FOLLOWING PAGE FIRST:
You need the following information about the servo that will receive the message:
- CAN_MODE - CanServo/MODE/CAN/en = CAN 2.0A or 2.0B - Optional - It's possible even if you don't know this
- CAN ID - CanServo/ID2/en - Optional - It's possible even if you don't know this
- SERVO ID - CanServo/ID1/en - Optional - It's possible even if you don't know this
- Register Address - Required
- Data - Required
Example: CAN MODE = ?, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234
- When the servo information is not known at all.
- Transmits a total of 2 CAN 2.0A packet and 2.0B packet each having the following information.
- CAN ID = 0 --> Don't care ID2
- CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: Don't care ID1
- DLC = 5
Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = 0x77, Address = 0x20, Data = 0x1234
- Send CAN 2.0A Packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
- CAN ID = 0x123 --> It means ID2 must be 0x123.
- CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
- DLC = 5
Example: CAN MODE = 2.0A, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234
- Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
- CAN ID = 0 --> It means servo don't care ID2.
- CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
- DLC = 5
- Only servos accept this packet with CAN MODE = 2.0A, don't care ID1, ID2.
- 0 applies to all received servos. All servos respond regardless of ID1 and ID2 values.
- However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.
Example: CAN MODE = 2.0A, ID2 = ?, ID1 = 0x77, Address = 0x20, Data = 0x1234
- Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
- CAN ID = 0 --> It means servo don't care ID2.
- CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
- DLC = 5
Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = ?, Address = 0x20, Data = 0x1234
- Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
- CAN ID = 0x123 --> It means ID2 must be 0x123.
- CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
- DLC = 5