CanServo/Register/Write/en

PLEASE READ THE FOLLOWING PAGE FIRST:

• CanServo/Packet Accept Rule/en

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

• CAN_MODE - CanServo/MODE/CAN/en = CAN 2.0A or 2.0B - Optional - It's possible even if you don't know this
• CAN ID - CanServo/ID2/en - Optional - It's possible even if you don't know this
• SERVO ID - CanServo/ID1/en - Optional - It's possible even if you don't know this
• 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.