CanServo/Protocol/Control/en

This protocols is used when CanServo/MODE/CAN/en = 2.0A or 2.0B. For protocol in UAVCAN state, refer to CanServo/Protocol/UAVCAN/en.

CAN servo is controlled by sending CAN packets with CAN ID set in Register CanServo/ID2/en and data following the message format below. Depending on the message type of CAN Data, the servo register can be changed or read.

• As a simple example, when the following packet is sent, all received servos change the value of Register 0x30 to 0x1234.
  • CAN ID = 0
  • CAN DATA = 'w', 0, 0x30, 0x34, 0x12
  • DLC = 5
• However, the Can Packet Type is determined according to the CanServo/MODE/CAN/en setting value.

There are 11 types of messages in 8 data bytes of CAN Packet, 3 old types and 8 new types. The first byte indicates the kind of message. The second byte is the servo ID.

Here, Target Servo ID must match the value of CanServo/ID1/en of Servo. Or if 0 is specified, all servos will react. For the exact procedure, refer to CanServo/Packet Accept Rule/en.

V0: 0x96 Format:

• 0x96 Write Command
  • write 1 register
    • 0x96, (target servo id), (address), 2, (data low byte), (data high byte), (chksum)
    • DLC = 7

• 0x96 Read Command
  • read 1 register
    • 0x96, (target servo id), (address), 0, (chksum)
    • DLC = 5

• 0x96 Return Message
  • return 1 register
    • 0x69, (servo id), (address), 2, (data low byte), (data high byte), (chksum)
    • DLC = 7

• 0x96 message's chksum
  • add all bytes before chksum, except first byte

V1: Checksum removed format

NOTE) V1: FW Ver >= 1.3

NOTE) V1 has included V0.

• Write Command
  • write 1 register
    • 'w', (target servo id), (address), (data low byte), (data high byte)
    • DLC = 5
  • write 2 registers
    • 'W', (target servo id), (address 0), (data 0 low byte), (data 0 high byte), (address 1), (data 1 low byte), (data 1 high byte)
    • DLC = 8

• Read Command
  • read 1 register
    • 'r', (target servo id), (address)
    • DLC = 3
  • read 2 registers
    • 'R', (target servo id), (address 0), (address 1)
    • DLC = 4

• Write and Read Command
  • write and read: 1 register
    • 'x', (target servo id), (address), (data low byte), (data high byte)
    • DLC = 5
  • write and read: 2 registers
    • 'X', (target servo id), (address 0), (data 0 low byte), (data 0 high byte), (address 1), (data 1 low byte), (data 1 high byte)
    • DLC = 8

• Return Message : Servo --> Host
  • return 1 register
    • 'v', (servo id), (address), (data low byte), (data high byte)
    • DLC = 5
  • return 2 registers
    • 'V', (servo id), (address 0), (data 0 low byte), (data 0 high byte), (address 1), (data 1 low byte), (data 1 high byte)
    • DLC = 8