CanServo/FW Files/en

NOTE

• These files for manual update only.

• 주의: 이곳의 파일이 최신이 아닐수 있으며, 서보에는 다른 FW 나 Param 가 들어가 있을수 있습니다.

• NOTE: The file here may not be the latest, and the servo may contain other FW or Param.

Manual

CAN / DroneCAN Servo Protocol

• HiTEC_CAN_DroneCAN(UAVCANv0)_SERVO_protocol_ENG_manual_v2_5.pdf - FW Ver 1.4 to 2.3(5) - 260323

UI

AIO (All in one) UI

• AIO UI ?
  • "All" is include config, simple test, param list, fw update.

• Versions
  • 2023-06-15
  • 2023-07-28
  • 2023-08-30 - include FW Ver 2.2 functions
  • 2023-10-05 - include FW Ver 2.3 functions
  • 2025-05-14 - Param Window: button: save param to file
  • 2025-11-13
  • 2025-11-14 - Retry if read reg operation fails
  • 2026-01-06 - include FW Ver 2.3(2) functions

• Download file and unzip, run exe
• DotNet framework 4 needed

• Manual
  • AIO-UI-MANUAL-220715
  • AIO-UI-WRITE-PARAM-MANUAL-251113

Config & Test UI

• HITEC-CAN-SERVO-CONFIG-2023_04_11_01.exe
  • http://support.hitecrcd.net:7700/files/UI/HITEC-CAN-SERVO-CONFIG-2023_04_11_01.zip
• HITEC-CAN-SERVO-CONFIG-2023_09_11_01.exe - added option "Write Message Type"
  • http://support.hitecrcd.net:7700/files/UI/HITEC-CAN-SERVO-CONFIG-2023_09_11_01.zip
• HITEC-CAN-SERVO-CONFIG-2024_12_18_01.exe - Velocity Target
  • http://support.hitecrcd.net:7700/files/UI/HITEC-CAN-SERVO-CONFIG-2024_12_18_01.zip

• Process
  • Download and Unzip
  • DotNet framework 4 needed

App FW Update UI

• The product platform can be identified by its firmware version.
  • ST MCU: FW Ver < 1.7
  • AT MCU: FW Ver >= 1.7 and FW Ver < 2.5
• FW Update
  • CAN_UPDATE_V2-2022_09_14_01.zip
  • Manual
    • CAN-SERVO-FIRMWARE-UPDATE-PROGRAM-2020_06_23_01.pdf
  • Note: ST MCU Platform
    • FW Ver 1.6(4) - (Reg 0x60) Velocity Target - Set this value with Velocity Max (Reg 0x54)
    • FW Ver 1.6(2) DroneCAN - Under 1.6(2), RUN MODE is ignored, but in 1.6(2), MULTI-TURN is enabled according to RUN MODE, so be sure to check RUN MODE
    • FW Ver 1.5(2) - After writing the new parameter file, downgrading below this version may result in different behavior.
    • FW Ver 1.3 - Unit of Velocity Max is posdiff/100msec. The unit is posdiff/msec below this version.

DotNet framework 4

• https://www.microsoft.com/en-us/download/details.aspx?id=24872 - client version
• https://dotnet.microsoft.com/en-us/download/dotnet-framework/thank-you/net40-web-installer - web installer version

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AT MCU Version

• AT Version

Ver 2.2

• FW File
  • App_ATcanServo_20_23_09_07_01_V4.2.zip - Ver 2.2 /A

Ver 2.3

• FW File
  • App_ATcanServo_20_23_10_05_01_V4.3.zip - Ver 2.3 /A

Ver 2.3(1)

• FW File
  • App_ATcanServo_20_24_01_02_01_V4.3(1).zip - Ver 2.3(1) /A

Ver 2.3(2)

• FW File
  • App_ATcanServo_20_24_07_03_01_V4.3(2)-0.zip - Ver 2.3(2) /A

NOTE

• When downloading, please use a CAN ID other than 0.
  • ex) 0x7F0

NOTE

• When ID is not set
  • If either Servo ID or Node ID is 0, the servo will periodically send a message with CAN ID = 0x7FF

Param Files

• Do not use param files of ST MCU Version

FW Ver 2.3(2)

• NOTE: When updating FW to version 2.3(2) or later, parameter updates are recommended for the following models.
• PARAM-MD145SW_CAN_AT-2025_11_07_03_Pub.zip
• PARAM-MD250MW_CAN_AT-2025_08_13_01_Pub.zip

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ST MCU Version

UI

Parameter Writer

• V2.1
  • CAN_SERVO_FACTORY_PROGRAM_2020_05_13_01-V2.1.zip
  • Product
    • MDxxx-CAN/DroneCAN
    • SG50-CAN/DroneCAN
    • SG33-CAN/DroneCAN

• V2.2
  • CAN_SERVO_FACTORY_PROGRAM_2020_11_03_01-V2.2.zip
  • Product
    • SG15-CAN/DroneCAN
    • SG20-CAN/DroneCAN
    • MDB961-CAN/DroneCAN
    • MDB77x-CAN/DroneCAN

• Note: Download zip file and unzip for exe

Parameter Files

• MD-CAN/DroneCAN - Param Files: (for ST MCU Version: FW Ver < 1.7)
  • MD65MG - MD65MG-CAN-2021_09_06_01.csv
  • MD70MH - MD70MH-CAN-2021_09_06_01.csv
  • MD85MG - MD85MG-CAN-2021_09_28_01.csv
  • MD89MW - MD89MW-CAN-2021_09_09_01.csv
  • MD145SW - MD145SW-CAN-2021_09_06_01.csv
  • MD245MW - MD245MW-CAN-2021_09_06_01.csv
  • MD250MW - MD250MW-CAN-2021_09_06_01.csv
  • MD940MW - MD940SW-CAN-2021_09_16_01.csv
  • MD950MW - MD950TW-CAN-2021_11_28_02.csv
  • Changed
    • Default Travel Range: +/- 60 deg
      • Reg 176 : 16300 -> 10922
      • Reg 178 : 91 -> 5462
    • PID Values changed for Ver 1.5(2)+

• SG50-CAN/DroneCAN - Param File: (for ST MCU Version: FW Ver < 1.7)
  • 24V - PARAM_SG50CAN_2021_11_23_01.csv
    • Changed
      • Default Travel Range: +/- 60 deg
        • Reg 176 : 16300 -> 10922
        • Reg 178 : 91 -> 5462

• SG33-CAN/DroneCAN - Param File: (for ST MCU Version: FW Ver < 1.7)
  • 12V, Torque Type - PARAM_SG33CAN_2021_09_07_01.csv
    • Changed
      • Default Travel Range: +/- 60 deg
        • Reg 176 : 16300 -> 10922
        • Reg 178 : 91 -> 5462
      • PID Values changed for Ver 1.5(2)
        • Reg 138 : 3700 -> 3700
        • Reg 140 : 50 -> 0
        • Reg 142 : 0 -> 0
        • Reg 144 : 0 -> 550

• Note:
  • FW Ver 1.5(2) 미만에서 1.5(2) 이상으로 FW 업데이트하고, Param Write 작업을 한 이후에는,
  • FW Ver 1.5(2) 미만으로 되돌리는 경우에는 동작이 이상하게 될 수 있습니다.

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Ver 1.5(2)

• ST Version

MD

• FW File:
  • CAN - App_MD2_B2_CAN_20_21_09_06_01_V_11_05_02.xhy
  • DroneCAN - App_MD2_B2_UAVCAN_20_21_09_06_01_V_21_05_02.xhy

SG50

• FW File:
  • CAN - App_SG50_CAN_20_21_09_06_01_V_11_05_02.xhy
  • DroneCAN - App_SG50_UAVCAN_20_21_09_06_01_V_21_05_02.xhy

SG33

• FW File:
  • CAN - App_SG33_CAN_20_21_09_06_01_V_11_05_02.xhy
  • DroneCAN - App_SG33_UAVCAN_20_21_09_06_01_V_21_05_02.xhy

SG20 / MDB961WP

• FW File:
  • CAN - App_SG20_CAN_20_21_09_06_01_V_11_05_02.xhy
  • DroneCAN - App_SG20_UAVCAN_20_21_09_06_01_V_21_05_02.xhy

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Ver 1.6(2)

• ST Version

Caution for DroneCAN

• 1.6(2) 미만에서는 RUN MODE 가 무시되었지만, 1.6(2) 에서 RUN MODE 에 따라 MULTI-TURN 이 가능하게 되므로, RUN MODE 를 반드시 확인하기 바랍니다.
  • RUN MODE
• Under 1.6(2), RUN MODE is ignored, but in 1.6(2), MULTI-TURN is enabled according to RUN MODE, so be sure to check RUN MODE.
  • RUN MODE/en

MD

• FW
  • App_MD2_B2_CAN_20_22_10_11_01_V_11_06_02.zip - Ver 1.6(2) /C
  • App_MD2_B2_UAVCAN_20_22_10_11_01_V_21_06_02.zip - Ver 1.6(2) /U

SG33

• FW
  • App_SG33_CAN_20_22_12_28_01_V_11_06_02.zip - Ver 1.6(2) /C
  • App_SG33_UAVCAN_20_22_12_28_01_V_21_06_02.zip - Ver 1.6(2) /U

SG20 / MDB961WP

• FW
  • App_SG20_CAN_20_23_03_23_31_V_11_06_02.zip - Ver 1.6(2) /C
  • App_SG20_UAVCAN_20_23_03_23_31_V_21_06_02.zip - Ver 1.6(2) /U

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Ver 1.6(3)

• ST Version

SG33

• FW
  • App_SG33_CAN_20_24_04_02_01_V_11_06_03.zip - Ver 1.6(3) /C
  • App_SG33_UAVCAN_20_23_06_09_01_V_21_06_03.zip - Ver 1.6(3) /U

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Ver 1.6(4)

• ST Version

• NOTE: Reg 0x60 Velocity Target added. Set this reg with value of Velocity Max (reg 0x54)

SG50

• FW
  • App_SG50_CAN,UAVCAN_20_24_11_08_01_V1.6(4).zip - Ver 1.6(4) /C /U

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Ver 1.6(5)

• ST Version

SG50

• FW
  • App_SG50_CAN,UAVCAN_20_25_08_20_01_V1.6(5).zip - Ver 1.6(5) /C /U

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