Difference between revisions of "CanServo/Register/Write/en"

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* When the servo information is not known at all.
* When the servo information is not known at all.
* Transmits a total of 2 CAN 2.0A packet and 2.0B packet each having the following information.
* Transmits a total of 2 CAN 2.0A packet and 2.0B packet each having the following information.
** CAN ID = 0
** CAN ID = 0 --> Don't care ID2
** CAN DATA = 'w', 0, 0x20, 0x34, 0x12
** CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: Don't care ID1
** DLC = 5
** DLC = 5
* 0 means all.




Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = 0x77, Address = 0x20, Data = 0x1234
Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = 0x77, Address = 0x20, Data = 0x1234
* Send CAN 2.0A Packet.
* Send CAN 2.0A Packet. --> It means Servo's [[CanServo/MODE/CAN]] must be 2.0A
** CAN ID = 0x123
** CAN ID = 0x123 --> It means ID2 must be 0x123.
** CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12
** CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
** DLC = 5
** DLC = 5
* Only servos with ID1 = 0x77, ID2 = 0x123 respond.
** However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.




Example: CAN MODE = 2.0A, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234
Example: CAN MODE = 2.0A, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234
* Transmits CAN 2.0A packet.
* Transmits CAN 2.0A packet. --> It means Servo's [[CanServo/MODE/CAN]] must be 2.0A
** CAN ID = 0
** CAN ID = 0 --> It means servo don't care ID2.
** CAN DATA = 'w', 0, 0x20, 0x34, 0x12
** CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
** DLC = 5
** DLC = 5
* Only servos accept this packet with CAN MODE = 2.0A, don't care ID1, ID2.
* 0 applies to all received servos. All servos respond regardless of ID1 and ID2 values.
* 0 applies to all received servos. All servos respond regardless of ID1 and ID2 values.
** However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.
** However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.
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Example: CAN MODE = 2.0A, ID2 = ?, ID1 = 0x77, Address = 0x20, Data = 0x1234
Example: CAN MODE = 2.0A, ID2 = ?, ID1 = 0x77, Address = 0x20, Data = 0x1234
* Transmits CAN 2.0A packet.
* Transmits CAN 2.0A packet. --> It means Servo's [[CanServo/MODE/CAN]] must be 2.0A
** CAN ID = 0
** CAN ID = 0 --> It means servo don't care ID2.
** CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12
** CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
** DLC = 5
** DLC = 5
* 0 applies to all received servos. Since ID1 is specified as 0x77 instead of 0, only the servo set with ID1 = 0x77 will respond.
** However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.




Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = ?, Address = 0x20, Data = 0x1234
Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = ?, Address = 0x20, Data = 0x1234
* Transmits CAN 2.0A packet.
* Transmits CAN 2.0A packet. --> It means Servo's [[CanServo/MODE/CAN]] must be 2.0A
** CAN ID = 0x123
** CAN ID = 0x123 --> It means ID2 must be 0x123.
** CAN DATA = 'w', 0, 0x20, 0x34, 0x12
** CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
** DLC = 5
** DLC = 5
* 0 applies to all received servos. Since ID2 is specified as 0x123 instead of 0, only the servo set with ID2 = 0x123 will respond.
** However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.

Latest revision as of 17:19, 23 September 2021

PLEASE READ THE FOLLOWING PAGE FIRST:


You need the following information about the servo that will receive the message:

  • CAN_MODE - CanServo/MODE/CAN/en = CAN 2.0A or 2.0B - Optional - It's possible even if you don't know this
  • CAN ID - CanServo/ID2/en - Optional - It's possible even if you don't know this
  • SERVO ID - CanServo/ID1/en - Optional - It's possible even if you don't know this
  • Register Address - Required
  • Data - Required


Example: CAN MODE = ?, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234

  • When the servo information is not known at all.
  • Transmits a total of 2 CAN 2.0A packet and 2.0B packet each having the following information.
    • CAN ID = 0 --> Don't care ID2
    • CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: Don't care ID1
    • DLC = 5


Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = 0x77, Address = 0x20, Data = 0x1234

  • Send CAN 2.0A Packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
    • CAN ID = 0x123 --> It means ID2 must be 0x123.
    • CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
    • DLC = 5


Example: CAN MODE = 2.0A, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234

  • Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
    • CAN ID = 0 --> It means servo don't care ID2.
    • CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
    • DLC = 5
  • Only servos accept this packet with CAN MODE = 2.0A, don't care ID1, ID2.
  • 0 applies to all received servos. All servos respond regardless of ID1 and ID2 values.
    • However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.


Example: CAN MODE = 2.0A, ID2 = ?, ID1 = 0x77, Address = 0x20, Data = 0x1234

  • Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
    • CAN ID = 0 --> It means servo don't care ID2.
    • CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
    • DLC = 5


Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = ?, Address = 0x20, Data = 0x1234

  • Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
    • CAN ID = 0x123 --> It means ID2 must be 0x123.
    • CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
    • DLC = 5
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