Difference between revisions of "CanServo/Protocol/DroneCAN/ReadWriteRegister/en"
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(Created page with " This protocol use custom data format of actuator.ArrayCommand and actuator.Status. You must set Node ID and Actuator ID. ( CanServo/ID/modes/en ) 1. Set a Register Valu...") |
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| Line 11: | Line 11: | ||
* ADDR >= 4 | * ADDR >= 4 | ||
ex) 8003F200 07 6A 01 00 C0 | |||
* Set value 0x0001 to register 0x6A of Servo 7. | * Set value 0x0001 to register 0x6A of Servo 7. | ||
* Target Actuator ID = 7 | * Target Actuator ID = 7 | ||
| Line 24: | Line 24: | ||
* ADDR >= 4 | * ADDR >= 4 | ||
ex) 8003F200 80 0A 00 00 C0 | |||
* Get value of register 0x0A from all servo. | * Get value of register 0x0A from all servo. | ||
* Target Actuator ID = 0 (ALL) | * Target Actuator ID = 0 (ALL) | ||
| Line 35: | Line 35: | ||
* CAN DATA = <Actuator ID>, <ADDR>, <DATA LO BYTE>, <DATA HI BYTE> | * CAN DATA = <Actuator ID>, <ADDR>, <DATA LO BYTE>, <DATA HI BYTE> | ||
ex) 0003F307 07 0A 10 00 | |||
* Actuator ID = 7 | * Actuator ID = 7 | ||
* Addr = 0x0A | * Addr = 0x0A | ||
Revision as of 09:58, 17 April 2024
This protocol use custom data format of actuator.ArrayCommand and actuator.Status.
You must set Node ID and Actuator ID. ( CanServo/ID/modes/en )
1. Set a Register Value
- CAN ID = 8003F200
- CAN DATA = <Actuator ID>, <ADDR>, , , SEQ
- Actuator ID = 0 (ALL), or 1~127
- ADDR >= 4
ex) 8003F200 07 6A 01 00 C0
- Set value 0x0001 to register 0x6A of Servo 7.
- Target Actuator ID = 7
- Addr = 0x6A
- Data = 0x0001
2. Get a Register Value
- CAN ID = 8003F200
- CAN DATA = 0x80+<Actuator ID>, <ADDR>, 0, 0, SEQ
- Actuator ID = 0 (ALL), or 1~127
- ADDR >= 4
ex) 8003F200 80 0A 00 00 C0
- Get value of register 0x0A from all servo.
- Target Actuator ID = 0 (ALL)
- Addr = 0x0A
3. Return Packet.
- CAN ID = 0803F3xx
- xx = Servo's Actautor ID
- CAN DATA = <Actuator ID>, <ADDR>, ,
ex) 0003F307 07 0A 10 00
- Actuator ID = 7
- Addr = 0x0A
- Data = 0x0010
4. SAVE and RESET
- SAVE: Set Value 0xFFFF to Target Servo's Register 0x70.
- SERVO RESET: Set Value 0x0001 to Target Servo's Register 0x46.