Difference between revisions of "CanServo/Protocol/UAVCAN/en"
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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. | 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 UAVCAN standard. | |||
Revision as of 19:18, 23 September 2021
This is the protocol used when CanServo/MODE/CAN/en = UAVCAN.
- If CanServo/MODE/CAN/en = 2.0A, 2.0B, refer to CanServo/Protocol/Control/en.
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 UAVCAN standard.