CanServo/Protocol/UAVCAN/en

This is the protocol used when CanServo/MODE/CAN/en = UAVCAN.

• If CanServo/MODE/CAN/en = 2.0A, 2.0B, refer to CanServo/Protocol/Control/en.

Because the UAVCAN v0 protocol is very extensive, it only supports the following messages essential for servo control.

• Node Status
• GetNodeInfo
• Actuator.ArrayCommand
• Actuator.Status

When changing or reading the register value of the servo, it is used in a way that expands the shape of Actuator.ArrayCommand without damaging it.

Return Message is used by modifying the data part of Actuator.Status. This part does not conform to the UAVCAN standard.

• Write Register ( arraycommand )
  • 0003F20xx AA BB CC DD cc
    • xx = Host Node
    • AA = Servo's Actuator ID (ID1) = 0 ~ 127
    • BB = 0x6A (Address of Protocol Register)
    • CC = 0(CAN 2.0A), 1(CAN 2.0B), 2(DroneCAN)
    • DD = 0
    • cc = tail byte of dronecan
    • ex) 0003F207 02 6A 01 00 Cd