CanServo/Packet Accept Rule/en

This procedure is only meaningful when the servo operates with Register CanServo/MODE/CAN/en = 2.0A or 2.0B.

Packets received by the servo:

• CAN PACKET TYPE: 2.0A, 2.0B
• CAN ID = 11 bits or 29 bits
• Message Type = First byte of CAN Data
• Target Servo ID = 2nd byte of CAN Data

For Message Type and Servo ID, refer to CanServo/Protocol/Control/en.

The relevant servo settings are as follows:

• CAN Packet Type: CanServo/MODE/CAN/en
• ID2: CanServo/ID2/en
• ID1: CanServo/ID1/en

If all of the following checks pass, the servo executes the received packet.

• CAN Packet Type Inspection
  • Check if it is the same as the Type ( 2.0A or 2.0B ) selected in CanServo/MODE/CAN/en
• CAN ID check
  • CAN ID = 0 or CAN ID = ID2
• Check Message Type
  • Pass only in case of Write, Read, Write and Read
  • Return Message is ignored
• Check Target Servo ID
  • Target Servo ID = 0 or Target Servo ID = ID1