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

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(Created page with "When the servo responds to the Read Command message and sends a Return Message, * CAN ID contains the servo ID2 value. * Servo ID contains the servo ID1 value. Example: CAN...")
 
 
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PLEASE READ THE FOLLOWING PAGE FIRST:
* [[CanServo/Packet Accept Rule/en]]
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
When the servo responds to the Read Command message and sends a Return Message,
When the servo responds to the Read Command message and sends a Return Message,
* CAN ID contains the servo ID2 value.
* CAN ID contains the servo's ID2 value.
* Servo ID contains the servo ID1 value.
* Servo ID contains the servo's ID1 value.




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** CAN DATA = 'r', 0, 0x20
** CAN DATA = 'r', 0, 0x20
** DLC = 3
** DLC = 3
* Servo
* All servos respond.
** Since CAN ID = 0, it is not compared with ID2.
** Since Target Servo ID = 0, it is not compared with ID1.
** All servos that have received the packet send the value of Register 0x20 in Return Message.




Latest revision as of 18:04, 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


When the servo responds to the Read Command message and sends a Return Message,

  • CAN ID contains the servo's ID2 value.
  • Servo ID contains the servo's ID1 value.


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

  • This is when neither CAN_MODE of the servo nor ID2 and ID1 are known.
  • Sends a total of 2 CAN 2.0A packet and 2.0B packet each with the following structure.
    • CAN ID = 0
    • CAN DATA = 'r', 0, 0x20
    • DLC = 3
  • All servos respond.


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

  • When all information is known.
  • Transmits CAN 2.0A packet with the following structure.
    • CAN ID = 0x123
    • CAN DATA = 'r', 0x77, 0x20
    • DLC = 3
  • Only servos with CAN MODE = 2.0A, ID2 = 0x123 and ID1 = 0x77 respond.


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

  • When the servo ID2 information is not known.
  • Transmits CAN 2.0A packet with the following structure.
    • CAN ID = 0
    • CAN DATA = 'r', 0x77, 0x20
    • DLC = 3
  • Only servos with CAN MODE = 2.0A and ID1 = 0x77 respond.


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

  • When the servo ID2 information is not known.
  • Transmits CAN 2.0A packet with the following structure.
    • CAN ID = 0x123
    • CAN DATA = 'r', 0, 0x20
    • DLC = 3
  • Only servos with CAN MODE = 2.0A and ID2 = 0x123 respond.
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