Difference between revisions of "CanServo/Protocol/UAVCAN/en"

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Return Message is used by modifying the data part of Actuator.Status.
Return Message is used by modifying the data part of Actuator.Status.
This part does not conform to the UAVCAN standard.
This part does not conform to the DroneCAN standard.


* Write Register ( arraycommand )
* [[CanServo/Protocol/DroneCAN/ReadWriteRegister/en]] - Read Write Register
** 0003F20xx AA BB CC DD cc
*** xx = Host Node
*** AA = Servo's Actuator ID (ID1) = 0 ~ 127
*** BB = 0x6A (Address of Protocol Register)
*** CC = 0(CAN 2.0A), 1(CAN 2.0B), 2(DroneCAN)
*** DD = 0
*** cc = tail byte of dronecan
*** ex) 0003F207 02 6A 01 00 Cd

Latest revision as of 10:05, 17 April 2024

This is the protocol used when CanServo/MODE/CAN/en = UAVCAN.


Because the UAVCAN v0 protocol is very extensive, it only supports the following messages essential for servo control.

  • Node Status
  • GetNodeInfo
  • Actuator.ArrayCommand
  • Actuator.Status


When changing or reading the register value of the servo, it is used in a way that expands the shape of Actuator.ArrayCommand without damaging it.

Return Message is used by modifying the data part of Actuator.Status. This part does not conform to the DroneCAN standard.

Retrieved from "http://support.hitecrcd.net:7700/index.php?title=CanServo/Protocol/UAVCAN/en&oldid=1004"