CanServo/Set Target Position on Multi-Turn Mode

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목표 위치가 1000 도 라고 하면:

  • 1000 deg = 360 x 2 + 280
  • 280 deg = 280 * 16384 / 360 = 12743 = 0x31C7
  • TURN NEW = 2 = 0x0002
  • POSITION NEW = 12743 = 0x31C7

서보 설정이 다음과 같다면:

다음 내용을 가지는 CAN 2.0B 패킷을 발신합니다:

  • CAN ID = 0x123
  • DLC = 8
  • DATA
    • 'W' - message type: write 2 register
    • 0x45 - target servo id
    • 0x24 - address of register CanServo/TURN_NEW
    • 0x02 - low byte of 0x0002
    • 0x00 - high byte of 0x0002
    • 0x1E - address of register CanServo/POSITION_NEW
    • 0xC7 - low byte of 0x31C7
    • 0x31 - high byte of 0x31C7

자세한 내용은 다음 페이지를 읽어주십시오:

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