CanServo/FW Type/en

There are 3 types of CAN FW Files according to the supported protocol type.

• C Type = CAN ( 2.0A, 2.0B )
• U Type = UAVCAN
• A Type = CAN + UAVCAN ( 2.0A, 2.0B, UAVCAN )

NOTE: Depending on the version, some of the three types may not be supported.

You can know the type of FW from the version information of the FW file. For version a.b(c), if a is 20 or more, it is /U, if it is 10 or more, it is /C, otherwise it is /A.

• 3.m(n) = A Type
• 4.m(n) = A Type
• 11.m(n) = C Type
• 21.m(n) = U Type

If a is more than 20, do -20, if it is more than 10, do -10, and if it is more than 3, do -2.

• Ver 1.m(n) /A = 3.m(n)
• Ver 2.m(n) /A = 4.m(n)
• Ver 1.m(n) /C = 11.m(n)
• Ver 1.m(n) /U = 21.m(n)

Exceptions to this rule are the following versions:

• 1.x = Versions earlier than 1.1(2) [ OLD 2.1(2) ].
• 1.1(2) [ OLD 2.1(2) ]
  • This is the first UAVCAN FW 2.1(2).

If you read the register of CAN servo, you can get information including FW type.

• CanServo/FW Version Value/en