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  • LSS-P CAN Bus - Command ID List.xlsx

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16	16	[[image:Extended-CAN-frame-structure.png]]
17	17
18	18
19		-Command ID List
20		-
21		-
22		-
23	23	|(% colspan="2" rowspan="1" style="text-align:center" %)**Data format on USB-Serial**|(% rowspan="16" style="text-align:center" %) |(% colspan="3" rowspan="1" style="text-align:center" %)**Data format on CAN-Bus**
24	24	|(% colspan="2" rowspan="1" style="width:150px" %) |(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
25	25	|(% style="background-color:yellow; width:150px" %)Header|(% style="background-color:yellow" %)# or *|(% style="background-color:yellow" %)ID[19]|(% style="background-color:yellow" %)Request/Response (0:Request 1:Response)|(% style="background-color:yellow" %)# = 0, * = 1
26		-|(% colspan="2" rowspan="3" %) |(% style="background-color:#dbd3ba" %)ID[18]|(% style="background-color:#dbd3ba" %)Presence of command parameters|(% style="background-color:#dbd3ba" %)Set to 1 if there are parameters such as D commands, set to 0 if there are parameters such as Query commands, etc.
27		-|(% style="background-color:#bdac7b" %)ID[17]|(% style="background-color:#bdac7b" %)Presence of sub-command id|(% style="background-color:#bdac7b" %)Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
28		-|(% style="background-color:#bcd6f5" %)ID[16]|(% style="background-color:#bcd6f5" %)Presence of sub-command parameter|(% style="background-color:#bcd6f5" %)Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
	22	+|(% colspan="2" rowspan="3" %) |ID[18]|Presence of command parameters|Set to 1 if there are parameters such as D commands, set to 0 if there are parameters such as Query commands, etc.
	23	+|ID[17]|Presence of sub-command id|Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
	24	+|ID[16]|Presence of sub-command parameter|Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
29	29	(SD/T requires a parameter, so currently if ID[17] is 1, ID[16] will also be 1.)
30	30	|(% style="background-color:#22e817" %)ServoID|(% style="background-color:#22e817" %)Servo ID|(% style="background-color:#22e817" %)ID[15-8]|(% style="background-color:#22e817" %)Source ID|(% style="background-color:#22e817" %)
31		-|(% colspan="2" rowspan="1" %) |(% style="background-color:#22e817" %)ID[7-0]|(% style="background-color:#22e817" %)Destination ID|(% style="background-color:#22e817" %)
	27	+|(% colspan="2" rowspan="1" %) |ID[7-0]|Destination ID|
32	32	|(% style="background-color:orange" %)Command|(% style="background-color:orange" %)Action Command (ex. RESET, D, etc..)
33	33	Query Command (ex. QID, QD, etc...)
34	34	Configuration Command (ex. CID, etc...)|(% style="background-color:orange" %)DATA0|(% style="background-color:orange" %)Command ID|(% style="background-color:orange" %)See Command ID List.

LSS-P CAN Bus - Command ID List.xlsx

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