CanServo/History

Servo ID designation

To control servos, you need to distinguish between servos, Servos are distinguished by two types of IDs.

• When using CAN 2.0 A/B protocol, it is divided into CAN ID and Servo ID
• When using DroneCAN, it is divided into Node ID and Actuator ID.

Set each ID:

• CAN ID and Node ID are set through Register CanServo/ID2/en.
• Servo ID and Actuator ID are set through Register CanServo/ID1/en.

When ID is not set:

• If ID1 or ID2 is 0, the servo will periodically send a message with CAN ID = 0x7FF (FW Ver 2.0+)

---

AT Version:

Version 2.3(1) or later is recommended

• Note
  • When ID(ID1 ID2) is not set, the servo will periodically send a message with CAN ID = 0x7FF

• Ver 2.3(3)
  • Add Function
    • Velocity Target
    • Stream Sync Message
  • Improvement
    • OLP in Multi Turn mode

• Ver 2.3(2) (2024_07_03)
  • Add Function
    • CAN Sample Point 50%. (It was removed in Ver 1.7)
  • Bug Fixed
    • Fixed malfunction when MCU Temper Min, Max are set to negative values
    • Fixed malfunction when speed is set to 0.
  • Improvement
    • In servo mode, fixed to not move into EPA when starting outside EPA(Position Min/Max).
    • more

• Ver 2.3(1) (2024_01_02)

  • Internal Performance Improvement
  • Upgrade recommended

• Ver 2.3 (2023_10_05)
  • Performance Improvement
    • Speed Mode: Eliminates vibrations that occur in some BLDC motor products at low speeds (e.g. less than 100).
  • Add Function
    • Custom CR/Speed Parameters ( View Register Set )

• Ver 2.2 (2023_09_07)
  • Add Function
    • DroneCAN: TURN_MULTIPLIER
  • Bug Fixed
    • After servo reset, some items (Voltage, MCU temperature, motor temperature) return the calculated value as ADC Raw Data 0 for up to 1 second.

• Ver 2.1 (2023_08_04)
  • Add Function
    • Motor Direction
  • Add Save State and Result
  • User Save Block: add backup copy

• Ver 2.0 (2023_02_01)
  • Performance Improvement
  • Bug Fixed
    • A bug where the SG10 has a low probability of causing an error situation when first started

• Ver 1.12 (2022_10_19)
  • ADD SG10

• Ver 1.11 (2022_08_22)
  • Add Function
    • Realtime ID1, ID2
      • Reg 0xA2, bit 12 = 0(normal), 1(realtime update)
  • Bug Fixed
    • 0x96 message checksum don't care fixed

• Ver 1.10 (2022_05_26)
  • Add Function
    • Run Mode added : CR, Speed
    • DroneCAN
      • Run Mode: Multi-Turn, Servo, CR, Speed
      • DNA
      • Param Service
      • F/W Update
    • NOTE: Speed mode is experimental

• Ver 1.7
  • Change Platform from Ver 1.5(2)

---

ST Version:

• Ver 1.6(4)

  • Add Function
    • Reg 0x60 Velocity Target
    • Stop by (Reg 0x54) Velocity Max = 0
  • Relased Date
    • SG50 - 2025_04_10
    • other - N/A

• Ver 1.6(3)

  • Add Function
    • DroneCAN ( FW Date = 230609 )
      • TURN MULTIPLIER
    • CAN ( FW Date = 240402 )
      • CAN Recv H/W Filtering (CAN Only)
  • Relased Date
    • SG33 - 2024_04_19
    • other - N/A

• Ver 1.6(2)

  • Add Function
    • DroneCAN
      • Run Mode: Multi-Turn, Servo
      • DNA (Dynamic Node Alloaction)
  • Bug Fixed
    • I Gain Bug Fixed
  • Relased Date
    • MDxxx - 2022_10_11
    • SG33 - 2022_12_28
    • MDB961WP / SG20 - 2023_03_29

• Ver 1.6(1) (2022_03_22) ---> TEST VERSION ---> Bench Test Only ---> NO FLY !!!
  • Add Function
    • Multi-Turn in DroneCAN

• Ver 1.6(0) (2021_11_09) ---> TEST VERSION ---> Bench Test Only ---> NO FLY !!! ---> Not recommanded

  • Add Function
    • DroneCAN: DNA
  • found bug
    • (NEW) SERVO_ID may changed by other node's DNA message -> fixed at Ver 1.6(1)

---

ST Version:

• Ver 1.5(2) (2021_09_06)

  • Add Function
    • Fail Safe
    • C gain
  • Add Limit
    • Turn off Motor Power, if NOT POSITION_MIN < POSITION_MAX, if Run Mode is SERVO MODE.
  • Bug Fixed
    • The deceleration time of the trapezoidal velocity profile is longer than the specified time.
    • If the Register POWER write message is received without delay, the motor output turns off and does not turn on again before reset.

• Ver 1.5(1) (2021_06_10)
  • DB961-CAN First Version
  • Add Function
    • Stream CAN ID
  • UAVCAN
    • Now, Node ID and Actuator ID can be set as desired for ID2 and ID1.
      • ID modes ( 1,2,3 ) all removed.

• Ver 1.5
  • SG50-CAN Second Version
  • Pause Stream function added
  • Bug Fixed
    • Winch bug fixed

• Ver 1.4(3)
  • DB961-CAN Devel Version

• Ver 1.4(2)
  • Enhancements
    • Stream Speed Up to 500Hz
    • Setup Hz of Stream Speed
  • Bug Fixed
    • UAVCAN NodeInfo Name first 7 byte dummy removed
  • UAVCAN
    • ID mode 3 added

• Ver 1.4(1)
  • Enhancements
    • Smart Sense

• Ver 1.4
  • Add Function
    • High Voltage Electric Brake
    • Start Position ( This is Not Fail Safe )
    • Switch to Bootloader ( Bootloader B3 needed )
    • Edit Register TURN ( CanServo/TURN, CanServo/TURN/en )
  • Bug Fixed
    • work as 640kbps, if setup with 800kbps, 87.5%
  • ADD SG50-CAN

• Ver 1.3(1)
  • ADD SG33-CAN

• Ver 1.3
  • Bug Fixed

  • Speed Value: Unit Changed

• Ver 1.1(2) [ OLD Ver 2.1(2) ]
  • First UAVCAN FW

• Ver 1.x
  • First FWs