CanServo/Register/Read/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

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

• CAN ID contains the servo's ID2 value.
• Servo ID contains the servo's 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
• All servos respond.

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.