CanServo/ID/modes/en

Servo Config

• How to set Node ID and Actuator ID of DroneCAN.
• FW Ver 1.5(1) or higher is recommended.

Ver 1.5(1)+

Config:

• CanServo/ID2/en <-- Node ID
• CanServo/ID1/en <-- Actuator ID

OLD methods

ID mode : 3

• This mode removed at FW Ver 1.5(1)
• This mode added at FW Ver 1.4(2)

Config:

• CanServo/ID2/en <-- 0x100 + Node ID
• CanServo/ID1/en <-- Actuator ID

DroneCAN reply:

• What is 0x100 ?

ID mode : 2

• This mode removed at FW Ver 1.5(1)
• This mode added at FW Ver 1.3

Config:

• CanServo/ID2/en <-- 128
• CanServo/ID1/en <-- Node ID = Actuator ID

DroneCAN reply:

• We want to set Node ID and Actuator ID at will.

ID mode : 1

• This mode removed at FW Ver 1.5(1)

• SNID = Source Node ID of ArrayCommand packet

Config:

• CanServo/ID2/en <-- Node ID
• CanServo/ID1/en <-- Actuator ID

Servo check SNID == CanServo/ID2/en.

• This is Not compatible DroneCAN.