Difference between revisions of "CanServo/Packet Accept Rule/en"
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(Created page with "This procedure is only meaningful when the servo operates with Register CanServo/MODE/CAN/en = 2.0A or 2.0B. Packets received by the servo: * CAN PACKET TYPE: 2.0A, 2.0B...") |
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This procedure is only meaningful when the servo operates with | This procedure is only meaningful when the servo operates with [[CanServo/MODE/CAN/en]] = 2.0A or 2.0B. | ||
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The relevant servo settings are as follows: | The relevant servo settings are as follows: | ||
* CAN Packet Type: [[CanServo/MODE/CAN/en]] | * CAN Packet Type: [[CanServo/MODE/CAN/en]] | ||
* | * ID2: [[CanServo/ID2/en]] | ||
* | * ID1: [[CanServo/ID1/en]] | ||
Latest revision as of 03:33, 24 September 2021
This procedure is only meaningful when the servo operates with CanServo/MODE/CAN/en = 2.0A or 2.0B.
Packets received by the servo:
- CAN PACKET TYPE: 2.0A, 2.0B
- CAN ID = 11 bits or 29 bits
- Message Type = First byte of CAN Data
- Target Servo ID = 2nd byte of CAN Data
For Message Type and Servo ID, refer to CanServo/Protocol/Control/en.
The relevant servo settings are as follows:
- CAN Packet Type: CanServo/MODE/CAN/en
- ID2: CanServo/ID2/en
- ID1: CanServo/ID1/en
If all of the following checks pass, the servo executes the received packet.
- CAN Packet Type Inspection
- Check if it is the same as the Type ( 2.0A or 2.0B ) selected in CanServo/MODE/CAN/en
- CAN ID check
- CAN ID = 0 or CAN ID = ID2
- Check Message Type
- Pass only in case of Write, Read, Write and Read
- Return Message is ignored
- Check Target Servo ID
- Target Servo ID = 0 or Target Servo ID = ID1