Difference between revisions of "CanServo/Register/Write/en"
Jump to navigation
Jump to search
| Line 4: | Line 4: | ||
You need the following information about the servo that will receive the message: | 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 - | * 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 - | * CAN ID - [[CanServo/ID2/en]] - Optional - It's possible even if you don't know this | ||
* SERVO ID - [[CanServo/ID1/en]] - Optional - | * SERVO ID - [[CanServo/ID1/en]] - Optional - It's possible even if you don't know this | ||
* Register Address - Required | * Register Address - Required | ||
* Data - Required | * Data - Required | ||
Revision as of 16:59, 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
- CAN DATA = 'w', 0, 0x20, 0x34, 0x12
- DLC = 5
- 0 means all.
Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = 0x77, Address = 0x20, Data = 0x1234
- Send CAN 2.0A Packet.
- CAN ID = 0x123
- CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12
- 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
- Transmits CAN 2.0A packet.
- CAN ID = 0
- CAN DATA = 'w', 0, 0x20, 0x34, 0x12
- DLC = 5
- 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.
- CAN ID = 0
- CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12
- 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
- Transmits CAN 2.0A packet.
- CAN ID = 0x123
- CAN DATA = 'w', 0, 0x20, 0x34, 0x12
- 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.