CanServo/FW Type/en

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There are 3 types of CAN FW Files according to the supported protocol type.

  • C Type = CAN ( 2.0A, 2.0B )
  • U Type = UAVCAN
  • A Type = CAN + UAVCAN ( 2.0A, 2.0B, UAVCAN )

NOTE: Depending on the version, some of the three types may not be supported.

You can know the type of FW from the version information of the FW file.

  • 3.m(n) = A Type
  • 4.m(n) = A Type
  • 11.m(n) = C Type
  • 21.m(n) = U Type

Replace all first digits 3, 4, 11, and 21 with 1.

  • Ver 1.m(n) /A = 3.m(n)
  • Ver 2.m(n) /A = 4.m(n)
  • Ver 1.m(n) /C = 11.m(n)
  • Ver 1.m(n) /U = 21.m(n)

Exceptions to this rule are the following versions:

  • 1.x = Versions earlier than 1.1(2) [ OLD 2.1(2) ].
  • 1.1(2) [ OLD 2.1(2) ]
    • This is the first UAVCAN FW 2.1(2).


If you read the register of CAN servo, you can get information including FW type.

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