CanServo/Register/Write/en

PLEASE READ THE FOLLOWING PAGE FIRST:

• CanServo/Packet Accept Rule/en

You need the following information about the servo that will receive the message:

• CAN_MODE - CanServo/MODE/CAN/en = CAN 2.0A or 2.0B - Optional - It's possible even if you don't know this
• CAN ID - CanServo/ID2/en - Optional - It's possible even if you don't know this
• SERVO ID - CanServo/ID1/en - Optional - It's possible even if you don't know this
• Register Address - Required
• Data - Required

Example: CAN MODE = ?, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234

• When the servo information is not known at all.
• Transmits a total of 2 CAN 2.0A packet and 2.0B packet each having the following information.
  • CAN ID = 0 --> Don't care ID2
  • CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: Don't care ID1
  • DLC = 5

Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = 0x77, Address = 0x20, Data = 0x1234

• Send CAN 2.0A Packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
  • CAN ID = 0x123 --> It means ID2 must be 0x123.
  • CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
  • DLC = 5

Example: CAN MODE = 2.0A, ID2 = ?, ID1 = ?, Address = 0x20, Data = 0x1234

• Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
  • CAN ID = 0 --> It means servo don't care ID2.
  • CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
  • DLC = 5
• Only servos accept this packet with CAN MODE = 2.0A, don't care ID1, ID2.
• 0 applies to all received servos. All servos respond regardless of ID1 and ID2 values.
  • However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.

Example: CAN MODE = 2.0A, ID2 = ?, ID1 = 0x77, Address = 0x20, Data = 0x1234

• Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
  • CAN ID = 0 --> It means servo don't care ID2.
  • CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12 --> Target Servo ID = 0x77: It means ID1 must be 0x77.
  • DLC = 5

Example: CAN MODE = 2.0A, ID2 = 0x123, ID1 = ?, Address = 0x20, Data = 0x1234

• Transmits CAN 2.0A packet. --> It means Servo's CanServo/MODE/CAN must be 2.0A
  • CAN ID = 0x123 --> It means ID2 must be 0x123.
  • CAN DATA = 'w', 0, 0x20, 0x34, 0x12 --> Target Servo ID = 0: It means servo don't care ID1.
  • DLC = 5