CanServo/Register/Write/en

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PLEASE READ THE FOLLOWING PAGE FIRST:


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

  • CAN_MODE - CanServo/MODE/CAN = CAN 2.0A or 2.0B - Optional - Don't know
  • CAN ID - CanServo/ID2 - Optional - Do not know
  • SERVO ID - CanServo/ID1 - Optional - Do not know
  • 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
    • CAN DATA = 'w', 0, 0x20, 0x34, 0x12
    • DLC = 5
  • 0 means all.


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

  • Send CAN 2.0A Packet.
    • CAN ID = 0x123
    • CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12
    • DLC = 5
  • Only servos with ID1 = 0x77, ID2 = 0x123 respond.
    • 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 = ?, Address = 0x20, Data = 0x1234

  • Transmits CAN 2.0A packet.
    • CAN ID = 0
    • CAN DATA = 'w', 0, 0x20, 0x34, 0x12
    • DLC = 5
  • 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.
    • CAN ID = 0
    • CAN DATA = 'w', 0x77, 0x20, 0x34, 0x12
    • DLC = 5
  • 0 applies to all received servos. Since ID1 is specified as 0x77 instead of 0, only the servo set with ID1 = 0x77 will respond.
    • 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 = 0x123, ID1 = ?, Address = 0x20, Data = 0x1234

  • Transmits CAN 2.0A packet.
    • CAN ID = 0x123
    • CAN DATA = 'w', 0, 0x20, 0x34, 0x12
    • DLC = 5
  • 0 applies to all received servos. Since ID2 is specified as 0x123 instead of 0, only the servo set with ID2 = 0x123 will respond.
    • However, since the format of CAN Packet is 2.0A, only servos with CAN MODE = 2.0A accept this packet.
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