LSS-PRO CAN Bus
Version 3.2 by Eric Nantel on 2024/11/25 14:16
| Data format on USB-Serial | Data format on CAN-Bus | |||
| Header | # or * | ID[28-20] | Reserved | |
| ID[19] | Request/Response (0:Request 1:Response) | # = 0, * = 1 | ||
| 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. | ||
| ID[17] | Presence of sub-command id | Set to 1 if there is a Modifier command (SD/T), otherwise set to 0. | ||
| ID[16] | Presence of sub-command parameter | Set to 1 if there is a parameter for the Modifier command, otherwise set to 0. (SD/T requires a parameter, so currently if ID[17] is 1, ID[16] will also be 1.) | ||
| ServoID | Servo ID | ID[15-8] | Source ID | |
| ID[7-0] | Destination ID | |||
| Command | Action Command (ex. RESET, D, etc..) Query Command (ex. QID, QD, etc...) Configuration Command (ex. CID, etc...) | DATA0 | Command ID | See Command ID List. |
| Value | Command Value | DATA1 | Command parameter0 | |
| DATA2 | Command parameter1 | |||
| DATA3 | Command parameter2 | |||
| DATA4 | Command parameter3 | |||
| Modifier | Modifier Command (ex. SD, T, etc...) | DATA5 | Sub-command ID | See Command ID List. |
| Modifier Value | Modifier Command Value | DATA6 | Sub-command parameter0 | |
| DATA7 | Sub-command parameter1 | |||