CanServo/Register/Read/en

When the servo responds to the Read Command message and sends a Return Message,

• CAN ID contains the servo ID2 value.
• Servo ID contains the servo ID1 value.

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

• This is when neither CAN_MODE of the servo nor ID2 and ID1 are known.
• Sends a total of 2 CAN 2.0A packet and 2.0B packet each with the following structure.
  • CAN ID = 0
  • CAN DATA = 'r', 0, 0x20
  • DLC = 3
• Servo
  • Since CAN ID = 0, it is not compared with ID2.
  • Since Target Servo ID = 0, it is not compared with ID1.
  • All servos that have received the packet send the value of Register 0x20 in Return Message.

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

• When all information is known.
• Transmits CAN 2.0A packet with the following structure.
  • CAN ID = 0x123
  • CAN DATA = 'r', 0x77, 0x20
  • DLC = 3
• Only servos with CAN MODE = 2.0A, ID2 = 0x123 and ID1 = 0x77 respond.

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

• When the servo ID2 information is not known.
• Transmits CAN 2.0A packet with the following structure.
  • CAN ID = 0
  • CAN DATA = 'r', 0x77, 0x20
  • DLC = 3
• Only servos with CAN MODE = 2.0A and ID1 = 0x77 respond.

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

• When the servo ID2 information is not known.
• Transmits CAN 2.0A packet with the following structure.
  • CAN ID = 0x123
  • CAN DATA = 'r', 0, 0x20
  • DLC = 3
• Only servos with CAN MODE = 2.0A and ID2 = 0x123 respond.