Difference between revisions of "CanServo/ReadPosition/en"
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** When the [[CanServo/Stream/en]] function is turned on, the servo transmits information such as its own position value. | ** When the [[CanServo/Stream/en]] function is turned on, the servo transmits information such as its own position value. | ||
** If there is additional information you want, specify it in [[CanServo/Stream/Address/en]]. | ** If there is additional information you want, specify it in [[CanServo/Stream/Address/en]]. | ||
* For reference, the servo ID is set through [[CanServo/ID1/en]] and the servo CAN ID is set through [[CanServo/ID2/en]]. | |||
Revision as of 00:42, 21 April 2022
- The current position of the servo is in CanServo/POSITION/en.
- There are two methods.
- Read Command
- Sends a message that reads the address 0x0C of the position value.
- The corresponding servo reports its own position value.
- Broadcast to all servos
Host -> Servo: CAN ID = 0, DATA = 'r', 0, 0x0C, DLC = 3 Servo -> Host: CAN ID = <Servo's ID2>, DATA = 'v', <Servo's ID1>, 0x0C, <Low Byte>, <High Byte>, DLC=5
- Specific servo: Servo ID=10, Servo CAN ID=0x123, Type=CAN 2.0B, current position value = 0x1122
Host -> Servo: CAN ID = 0x123, CAN=EXT, DATA = 'r', 10, 0x0C, DLC=3 Servo -> Host: CAN ID = 0x123, CAN=EXT, DATA = 'v', 10, 0x0C, 0x22, 0x11, DLC=5
- For the format of Read/Write Command and Return message, refer to SERVO/PROTOCOL/CAN/V1.0/ENG.
- Using the Stream function
- When the CanServo/Stream/en function is turned on, the servo transmits information such as its own position value.
- If there is additional information you want, specify it in CanServo/Stream/Address/en.
- For reference, the servo ID is set through CanServo/ID1/en and the servo CAN ID is set through CanServo/ID2/en.