CAN 2.0A B Hitec Commercial Solutions User Manual

: June 1, 2024
: HiTEC

Table of Contents

CAN 2.0A B Hitec Commercial Solutions
Product Information
Specifications:
- Product Usage Instructions
1. CAN SERVO Control Protocol
2. CAN SERVO Register Sheet
Q: What firmware versions are covered in this manual?
Q: What is the recommended packet format?

CAN 2.0A B Hitec Commercial Solutions

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Product Information

Specifications:

Model: CAN 2.0A/B / DroneCAN Servo Control
Firmware Version Range: 1.4 to 2.2
Manufacturer: HITEC RCD, INC.

Product Usage Instructions

1. CAN SERVO Control Protocol

This section covers the control protocol for the CAN servo
system.

1-5 OLD Normal Packet Format (Not Recommended)

Details on the old normal packet format are provided in this
subsection.

1-6 DroneCAN Protocol

Information on the DroneCAN protocol is outlined in this
subsection.

1-7 Save Process

Instructions on the save process are detailed here.

1-8 Save Verify Process (FW Ver >= 2.1)

For firmware versions equal to or greater than 2.1, follow the
steps for the save verify process.

2. CAN SERVO Register Sheet

This section provides details on the register sheet for the CAN
servo system.

2-1 Address Table

Information regarding the address table is available here.

2-2 Additional Address Table

Details on the additional address table can be found in this
subsection.

2-3 Status

Explanation of the status information is given in this
section.

Frequently Asked Questions (FAQ)

Q: What firmware versions are covered in this manual?

A: This manual covers firmware versions starting from CAN F/W
Ver 1.4 up to Ver 2.2.

Q: What is the recommended packet format?

A: The recommended packet format is the DroneCAN Protocol
outlined in the manual.

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This manual only covers starting from CAN F/W Ver 1.4 and up to Ver 2.2.
CAN 2.0A/B / DroneCAN Servo Control Protocol Manual
Revision 2.03_EN
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INDEX
1 CAN SERVO Control Protocol…………………………………………………………………….. 5
1-1 Protocol………………………………………………………………………………………………………………………..5 1-2 Communication System ……………………………………………………………………………………………….5 1-3 Test Configuration ……………………………………………………………………………………………………….5 1-4 New Packet Format (Recommended) ………………………………………………………………………….5

1-5 OLD Normal Packet Format (Not Recommended) ………………………………………………………7

1-6 DroneCAN Protocol ………………………………………………………………………………………………….. 10 1-7 Save Process……………………………………………………………………………………………………………… 10 1-8 Save Verify Process ( FW Ver >= 2.1 ) …………………………………………………………………….. 11
2 CAN SERVO Register Sheet……………………………………………………………………….12
2-1 Address Table …………………………………………………………………………………………………………… 12 2-2 Additional Address Table …………………………………………………………………………………………. 15 2-3 Status………………………………………………………………………………………………………………………… 16

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2-4 Status 2 …………………………………………………………………………………………………………………….. 20
2-5 Action ……………………………………………………………………………………………………………………….. 21 2-6 Communication ………………………………………………………………………………………………………… 22

2-7 MODE ……………………………………………………………………………………………………………………….. 25

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2-8 Option ………………………………………………………………………………………………………………………. 27

2-9 Option (Current Circuit Model Only) ……………………………………………………………………….. 35

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2-10 Option (DroneCAN Only)………………………………………………………………………………………….. 35 2-11 Configuration ……………………………………………………………………………………………………………. 36 2-12 Additional Function (F/W Ver >= v1.4) ……………………………………………………………………. 37

2-13 Additional Function (F/W Ver >= v1.5) ……………………………………………………………………. 39

2-14 Additional Function (F/W Ver >= 1.6(3) and Ver < 1.7)………………………………………….. 40 2-15 Additional Function (F/W Ver >= v2.1) ……………………………………………………………………. 40

3 Drawing …………………………………………………………………………………………………….. 41

3-1 Connector and Pin Assign (SG Series CAN Circular Connector Type) ……………………… 41

3-2 Cable and Pin Assign (SG Series CAN Cable Type) ………………………………………………….. 41

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3-3 Connector and Pin Assign (Standard CAN Servo Connector Type) …………………………. 41

1 CAN SERVO Control Protocol
1-1 Protocol
Using CAN SERVO Control Protocol, you can write or read data in the registers of CAN Servos.
1-2 Communication System
CAN communication is a Multi Master Network, and all CAN controllers sharing a communication bus can act as a Master. CAN communication is resistant to noise by the Differential communication method using Two Wire Twist Pair. It supports CAN protocol standard CAN (2.0A) and extended CAN (2.0 B) and can communicate at speeds up to 1Mbps (ISO11898).
1-3 Test Configuration
SERVO setting and TEST are available by connecting to PC using DPC-CAN provided separately. (DPC-CAN Communication: Baud rate – 115,200bps, stop bit – 1, parity none)
1-4 New Packet Format (Recommended)
Removed REG Length and Check Sum from the (OLD) Normal Packet Format and extended the function with the separator of Message ID. It is recommended to use this Packet format in TURN MODE situation. ex) Write 2 x Data (Position New, Turn New), Read 2 x Data (Position Now, Turn Count) Read Long DATA (32bit position) This format is divided into 6 areas, Message Id, ID, Address A, B, DATA A, B as follows.
Custom Write – Data write to SERVO

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Message ID `w’

ID

Address

0xXX

– Lowercase `w’

Data Low 0xXX

Data High 0xXX

– Data write to SERVO (2 Address Data)

Message

ID

Address

Data

Data Address Data

Data

ID

A

`W’

0xXX

– Uppercase `W’

Low A 0xXX

High A 0xXX

B 0xXX

Low B 0xXX

High B 0xXX

– If you use ‘x’ or ‘X’ instead of ‘w’ or ‘W’, CAN SERVO processes the read after writing.

In other words, it sends a Return after writing. Custom Read

– Request a data to SERVO

Message ID `r’

ID 0xXX

Address 0xXX

– Response from SERVO

Message ID `v’

ID 0xXX

Address 0xXX

Data Low 0xXX

Data High 0xXX

– Request 2 data to SERVO (2 Address Data)

Message

ID

Address Address

ID

A

B

`R’

0xXX

– Response from SERVO (2 Address Data)

Message

ID

Address

Data

ID

A

Low A High A

`V’

0xXX

Address B
0xXX

Data Low B 0xXX

Data High B 0xXX

Message ID
A start Byte of Custom Packet. Message Id values are identified by the characters w’,W’, x’,X’, ,,r’, R’,v’ and `V’.

Message ID
ID

Address A

Data Low A

Data High A

Address B

Data Low B

Data High B

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ID
A Byte which represents the ID of SERVO to receive the packet. The corresponding packet is recognized only in the servo that matches the ID of the packet. Unmatched servos will not respond. ID can be specified from 0 to 255. 0 is broadcasting.

Message ID
ID

Address A

Data Low A

Data High A

Address B

Data Low B

Data High B

Packets whose ID is set to 0 (0x00) are recognized as the same parameters in all

servos regardless of CAN SERVO’s unique ID.

Address
Register Address Byte. Registers of SERVO are configured in 2-byte units, and Register Address has Even value.

Message ID
ID

Address A

Data Low A

Data High A

Address B

Data Low B

Data High B

Data
The data you want to write to the Register. Data is 2 bytes or 2×2 bytes and follows Little Endian rules. Data [0] has Low Byte among 2 Byte data and Data [1] has High Byte.

Message ID
ID

Address A

Data Low A

Data High A

Address B

Data Low B

Data High B

1-5 OLD Normal Packet Format (Not Recommended)
Normal Packet Format is divided into 6 areas such as Header, ID, Address, REG Length, Data, Check Sum as follow. – Data format – Little Endian – Check Sum = (ID + Address + REG Length + Data Low + Data High) & 0xFF

Normal Write

– Data write to SERVO

Write

ID

Address

Header

0x96

0xXX

REG Length
0x02

Data Low 0xXX

Data High 0xXX

Check Sum 0xXX

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Normal Read

– Request a response to SERVO

Write

ID

Address

REG

Header

Length

0x96

0xXX

0x00

– Response from SERVO

Return

ID

Address

REG

Header

Length

0x69

0xXX

0x02

Check Sum 0xXX
Data Low 0xXX

Data High 0xXX

Check Sum 0xXX

Header
Packet starts with Byte. Every Protocol Packet should start with Header Byte. Packets sent from the controller to SERVO begin with 150 (0x96), and packets returned by the SERVO to the controller begin with 105 (0x69).

REG

Data

Check

Header

ID

Address

Length

Low

High

Sum

ID
It shows Byte which represents the unique ID of CAN SERVO to receive the packet. The corresponding packet is recognized only in the servo that matches the ID of the packet. Unmatched servos will not respond. ID can be specified from 0 to 255.

Header

REG

Data

ID

Address

Length

Low

Data High

Check Sum

Packets whose ID is set to 0 (0x00) are recognized as the same parameters in all

servos regardless of the SERVO’s unique ID.

Address
Register Address Byte. Registers of CAN SERVO are configured in 2-byte units, and Register Address has Even value.

Header

REG

Data

ID

Address

Length

Low

Data High

Check Sum

Register Length

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A Byte that indicates the length of Data in the Packet. Among the Packet Format (Header, ID, Address, REG Length, Data, Check Sum), Register Length means the number of Byte in the area of “Data”.

REG

Data

Check

Header

ID

Address

Length

Low

High

Sum

Write Mode

It indicates the number of Bytes behind REG Length. It is fixed to 2. Read Mode

If the .REG Length is ‘0’, it means that there is no data transmitted afterwards, which

is used to read the data from the register corresponding to the packet address.

Data

The data you want to write to the Register.

When the Data is [Write Mode], the length is 2Byte. When the Data is [Read Mode], the

length is 0 Byte. In other words, Data is omitted after REG Length in Packet.

When writing or reading 2 Byte Data value to register specified by Address of Packet,

follow Little Endian rule as follows. Data [0] has 2 bytes of Low Byte and Data[1] has High

Byte.

REG

Data

Check

Header

ID

Address

Length

Low

High

Sum

Check Sum
A byte to verify the error of the packet. If CheckSum does not match, it recognizes as an error packet and does not respond to the corresponding packet. CheckSum is the lower 1 byte value of the sum of the bytes of all areas excluding the header in the packet.

REG

Data

Header

ID

Address

Length

Low

High

Read Mode Check Sum Calculation

Check Sum = (ID + Address + Length) & 0xFF

Write Mode Check Sum Calculation

Check Sum = (ID + Address + Length +Data [0] + Data [1]) & 0xFF

Check Sum

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1-6 DroneCAN Protocol
The supported DroneCAN Data Types are:

Data Type Actuator.ArrayCommand
Actuator.Status GetNodeInfo NodeStatus
DNA Param Service F/W Update

Note –
must F/W >= 1.6(2) must F/W >= 2.0 must F/W >= 2.0

In F/W versions below 1.6(2), RUN_MODE is ignored and operates in Servo Mode. In F/W 1.6(2) or later, RUN_MODE is not ignored and operates in the set mode.

For more detailed information, please refer to the DroneCAN protocol data below.

https://legacy.uavcan.org/Specification/7._List_of_standard_data_types/ https://legacy.uavcan.org/Specification/4._CAN_bus_transport_layer/ https://uavcan.org/specification/UAVCAN_Specification_v1.0-beta.pdf – Latest version document.

1-7 Save Process
The recommended SAVE procedure is as follows: – Stop Servo – Write 0xFFFF to Register 0x70(112) – Wait 1 sec – Reset Servo – Check Parameters and Working

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1-8 Save Verify Process ( FW Ver >= 2.1 )
In FW Ver 2.1, a confirmation procedure was added during the SAVE procedure.

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2 CAN SERVO Register Sheet

2-1 Address Table

This is the Address list of the registers based on F/W 1.4 or earlier.

Please note that added and modified contents due to F/W update are also indicated.

Address

Name

Range

len R/W

Default

min

max

Feature

Unit

0x48 REG_EMERGENCY_STOP

2

R

–

Bit 8: Position min error.

Bit 9: Position max error

Bit 10: MCU temper under error

0

65535

Bit 11: MCU temper over error

Bit 13: Volt under error

Bit 14: Volt over error

0 = OK, 1 = Error 0 = OK, 1 = Error 0 = OK, 1 = Error 0 = OK, 1 = Error 0 = OK, 1 = Error 0 = OK, 1 = Error

0x0C REG_POSITION

2

R

–

0

16383 Read the Position.

4096=90°

0x0E REG_VELOCITY

2

R

–

0

65535 Read the Velocity.

pos/100msec

0x10 REG_TORQUE

2

R

–

0

4095 Read the Motor PWM Duty.

4095=100%

Status

0x12 REG_VOLTAGE 0x14 REG_MCU_TEMPER

2

R

–

2

R

–

0

65535 Read the Input Voltage.

-57

196 Read the MCU temperature.

100 = 1.00V

0x18 REG_TURN_COUNT

2

R (R/W)

–

0x1A REG_32BITS_POSITION_L

2

R

–

0x1C REG_32BITS_POSITION_H

2

R

–

0xC8 REG_TIME_L

2

R

–

0xCA REG_TIME_H

2

R

–

0x74 REG_PRODUCT_NO

2

R

–

-32760 0 0 0 0 0

32760

Accumulated Turn Count. (R/W is only available : F/W >= v1.4)

65535 65535 65535 65535

Read the Accumulated Turn Position High 2 Bytes.
Read the Accumulated Turn Position Low 2 Bytes.
Read the Servo operation time Low 2 Bytes.
Read the Servo operation time High 2 Bytes.

65535 Read the Servo product number.

1 = 360° 4096=90° 1=4 x 360°
sec 1=65536 sec
–

0xFC REG_VERSION

2

R

–

0

65535 Read the Servo version.

–

0xFE REG_VERSION

2

R

–

0

65535 Read the Servo version. (Bit Inverse)

–

0x16 REG_CURRENT

Status 2

0xD0 0xD2

REG_MOTOR_TEMP REG_TEMP

Action

0xD4 REG_HUM

0x1E 0x24 0x32

REG_POSITION_NEW
REG_TURN_NEW REG_ID [In case of DroneCAN]

Comm

0x38 REG_CAN_BAUDRATE

2

R

–

0

65535 Read the generated Current.

mA

2

R

2

R

2

R

–

-32767 32767 Read the Motor temperature.

–

-32767

32767

Read the internal temperature of the Servo.

–

0

32767

Read the internal relative humidity of the servo.

Computational reference
Computational reference
Computational reference

2

R/W

–

0

16383 Set New Position.

4096=90°

2

R/W

–

-32760

32760

Set New Turn (TURN mode only)

1=360°

2

R/W

0

1

254 [127]

Set the SERVO ID.

`0′ need Broadcast.

0 = 1000 kbps

1 = 800 kbps

2 = 750 kbps

2

R/W

0

8

Set the baud rate.

3 = 500 kbps

4 = 400 kbps

5 = 250 kbps

6 = 200 kbps

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0x3C

REG_CAN_BUS_ID_H [In case of DroneCAN]

0x3E

REG_CAN_BUS_ID_L [In case of DroneCAN]

0x40 REG_SAMPLE_POINT

2

R/W

0

2

R/W

0

2

R/W

1

0x6A REG_CAN_MODE

2

R/W

–

0x44

REG_RUN_MODE [In case of DroneCAN]

2

R/W

0

0x9A REG_POS_LOCK_TIME

2

R/W

3

Mode

0x9C

REG_POS_LOCKTORQUE RATIO

2

R/W

–

7 = 150 kbps

8 = 125 kbps

0

65535 [0]

Set the CAN ID High 2 Bytes. (2.0A: 0~2047, 2.0B: 0~536870911) [Not used on DroneCAN.] [Keep 0]

Set the CAN ID Low 2 Bytes.

0

65535 [128]

(2.0A: 0~2047, 2.0B :0~536870911) [Set the Node ID.] [Add 0x100, if v1.4(2) <= F/W <

`0′ need Broadcast.

v1.5(1)]

0

1

Set the CAN Sample Point.

0 = 50%, 1 = 87.5%

0

2

Select Protocol Type.

0 = 2.0A If F/W Type = A or C
1 = 2.0B If F/W Type = A or C
2 = DroneCAN, if F/W Type = A

Set run mode.

0

3

[SERVO MODE is fixed before

F/W 1.6(2)]

0: Multi-Turn mode
1: Servo mode 2: CR
(F/W >= v2.0) 3: Speed (F/W>=v2.0)

0

5000

Set the time for OLP to operate. (Only SERVO Mode)

sec

0

100

Set torque ratio when OLP operates. (Only SERVO Mode)

%

0xB0 REG_POSITION_MAX_LIMIT

2

R/W

–

0xB2 REG_POSITION_MIN_LIMIT

2

R/W

–

0x2E REG_STREAM_TIME 0x30 REG_STREAM_MODE 0xE2 REG_STREAM ADDR_0

2

R/W

1000

2

R/W

0

2

R/W

0

0xE4 REG_STREAM ADDR_1

2

R/W

0

Option

0xE6 REG_STREAM ADDR_2

0xE8 REG_STREAM ADDR_3

2

R/W

0

2

R/W

0

0x46 REG_POWER_CONFIG

2

R/W

0

0x4E REG_DEADBAND 0x50 REG_POS_MAX

2

R/W

–

2

R/W

0

16383

Set the position max limits. (Only SERVO Mode)

4096=90°

0

16383

Set the position min limits. (Only SERVO Mode)

4096=90°

Set the Stream Period.

(Range: 1000 ~10000)

Period: (ms)

0

11000 (Must F/W Ver >= 1.4) Set the Stream

Freq :

Freq.

Value – 10000 Hz

(Range: 10001 ~ 11000)

0

1

Set the Stream Mode.

0 = Off, 1 = On

Bit 0~7 :Stream Custom 1 Adder

0

65535

–

Bit 8~15 :Stream Custom 2 Adder

Bit 0~7 :Stream Custom 3 Adder

0

65535

–

Bit 8~15 :Stream Custom 4 Adder

Bit 0~7 :Stream Custom 5 Adder

0

65535

–

Bit 8~15 :Stream Custom 6 Adder

Bit 0~7 :Stream Custom 7 Adder

0

65535

Bit 8~15 :Stream Custom 8 Adder

Bit 10-9 : Forced Emergency Stop

0

1536

–
0 = Off 1= Motor_Free 2= Speed_Down 3=Motor_Hold

Bit 0: S/W Reset

0 = Off, 1 = Reset

0

4095 Set the Position Dead band.

0

16383

Set the maximum position. (0 is inactive)

step 4096=90°

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0xC2 REG_POS_MID 0x52 REG_POS_MIN 0xDA REG_SPEED_VOLTAGE 0xDC REG_SPEED_UP 0xDE REG_SPEED_DN

2

R/W

8192

2

R/W

0

2

R/W

–

2

R/W

–

2

R/W

–

0

16383 Set Mid position.

0

16383

Set the minimum position. (0 is inactive)

0

65535

Set the reference voltage for the speed.

0

65535 Set the acceleration time.

0

65535 Set the deceleration time.

4096=90° 4096=90° 100mV (120 = 12.0V)
ms ms

0xE0 REG_SPEED_ES

Set the deceleration time in case of an

2

R/W

–

0

65535

emergency stop. (It cannot be lower than the

ms

deceleration time.)

0x64 REG_INERTIA_RANGE

0x54 0x56

REG_VELOCITY_MAX (SPEED)
REG_TORQUE_MAX

2

R/W

1

0

4095 Set the Inertia gain range.

2

R/W

–

0

4095 Set the maximum velocity.

2

R/W

4095

0

4095 Set the maximum torque.

0 = smart sense disable
1 = smart sense auto
Gain Range 2~4095 (4095=100%)
pos/100msec
4095=100%

0x58 REG_VOLTAGE_MAX

2

R/W

–

0

65535 Set the maximum Voltage

10mV (100 = 1.00V)

0x5A REG_VOLTAGE_MIN

2

R/W

–

0

65535 Set the minimum Voltage

10mV (100 = 1.00V)

0x5C REG_TEMPER_MAX

2

R/W

–

-32767 32767 Set the maximum Temperature.

0x6C REG_TEMPER_MIN

2

R/W

–

-32767 32767 Set the minimum Temperature.

0xC6 REG_ECHO

User define Volatile memory.

2

R/W

0

65535

–

(It becomes ‘0’ when power is reset.)

0xCC REG_USER_1

2

R/W

0

65535 User define Non-volatile memory.

–

0xCE REG_USER_2

2

R/W

0

65535 User define Non-volatile memory.

–

Current Circuit Model Only

0x26 REG_SPEC_TORQUE 0xD8 REG_CURRENT_MAX

2

R/W

–

2

R/W

–

0

65535

Set the torque output by measuring the current.

0

65535 Set the Max Current.

1 = 10mW (9000=90.00W)
mA

Drone

CAN

0x2C

REG_UNITLESS_RAD_MOD E

2

R/W

0

Only

1

Set the unit of angle for stream mode.

0=unitless 1=radian

0x6E REG_FACTORY_DEFAULT

2

W

0

Config

0x70 REG_CONFIG_SAVE

2

W

0

3855 = factory default

0

65535 Set data to previous or factory default.

65535 = Load User

Page

0

65535 Save changed data in memory.

65535 = Save User Page

NOTE) Yellow Values need SAVE and RESET

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2-2 Additional Address Table

This is the Address list of the registered added due to F/W version update.

Address

Name

l

Range

e R/W

n

Default

min

max

Feature

0x06 REG_STATUS

Bit 0 : Read the E_STATUS.

2

R

–

0

3

Bit 1: Read the Over Current state.

0xA6 REG_REF_1

2 R/W

–

0

65535

Referenceable flags Bit 0 = Reg 0xA8

Added

0xA8 REG_PAD_VOLT

in

F/W v1.4

0xA2 REG_SETUP

0x7A REG_START_POSITION

2 R/W

–

2 R/W

–

2 R/W

0

65535 PAD voltages

Bit 0 : PAD Control

Bit 1 : Start Position

Bit 2 : Brake instead of Free (BLDC)

0

65535

Bit 3 : Over Volt Brake Bit 7 : Stream CAN ID: F/W>= v1.5(1)

Bit 10 : Fail Safe :F/W>= v1.5(2)

Bit 12 : Realtime ID1, ID2 :F/W>= v2.0

Bit 15 = Motor Diretion: F/W >= v2.1

0

16383

Start Position. Reg 0xA2: bit 1 = needed.

0x80

REG_OVERVOLT_BRAKE_VOL TAGE

2

R/W

0

0x20 REG_TMP_CONFIG

2 R/W

0

0x3A REG_STREAM_CAN_ID_H

2 R/W

0

Added

0x42 REG_STREAM_CAN_ID_L

2 R/W

0

in

F/W v1.5

0x94 REG_FAIL_SAFE_POSITION

2 R/W

0

0xB4 REG_FAIL_SAFE_TIME

2 R/W

0

65535

Brake Voltage Reg 0xA2: bit 3 = 1 needed.

0

65535

Bit 0 = Pause Stream Must F/W >= v1.5

0

65535 Custom Stream CAN ID,

Reg 0xA2: bit 7 = 1 needed.

Must F/W Ver >= v1.5(1)

0

65535

Fail Safe Position.

0

16383 Reg 0xA2: bit 10 = 1 needed.

Must F/W Ver >= v1.5(2)

Set the time period for the condition

0

65535

where Fail Safe activates. Reg 0xA2: bit 10 = 1 needed.

Must F/W Ver >= v1.5(2)

FW >= 1.6(3)

0xAC TURN_MULIPLIER

2 R/W

1

-32760

32760

DorneCAN, Multi-Turn: +/-1.0 x MULTIPLIER

Unit
0 = Enabled 1 = Disabled 0 = Over Current
status 1 = Normal status
Bit 0=1 (Referenceable) Byte0=PAD volt1 Byte1=PAD volt2
Keep bits
1000 = 10.00V
Bit 0 = 1(Paused) Bit 31 = 1 (CAN 2.0B) Bit 31 = 0 (CAN 2.0A)
4096=90°
ms

0xA0 REG_SETUP_2

F/W >= v2.1

0x41 REG_SETUP_EX_3

0xAC TURN_MULIPLIER

2 R/W

–

2 R/W

–

Bit 0 ~ 14: System Reserved

You must keep

0

65535 Bit 15 = Enable Setup_EX_X Regs

( Keep bit 1 if bit = 1 aleady)

reserved bits

Bit 0 = Reserved

You must keep

0

65535 Bit 1 = Enable TURN_MULTIPLIER

Bit 2 ~ 15 = Reserved

reserved bits

2 R/W

1

-32760

32760

DorneCAN, Multi-Turn: +/-1.0 x MULTIPLIER

NOTE) Yellow Values need SAVE and RESET

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-3 Status
The registers to check the status of the SERVO.
REG_EMERGENCY_STOP
The current error states. Items that do not meet the set criteria can be checked with Flag.

15

14

Reserved

Volt Over Error

7

6

13

12

11

Volt Under Error

Reserved

MCU TEMP Over Error

5

4

3

Reserved

10
MCU TEMP Under Error
2

9
POS Max Error
1

8
POS Min Error
0

Address length R/W Default Min

Max

0x48

2

R

0

65535

Bit 15,12, 7~0: Reserved Do not use. Bit 14: Volt over error Set to 1, if the current voltage is higher than the standard
voltage. Bit 13: Volt under error Set to 1, if the current voltage is lower than the standard
voltage. Bit 11: MCU Temp over error Set to 1, if the current MCU temperature is higher
than the standard temperature. Bit 10: MCU Temp under error Set to 1, if the current MCU temperature is lower
than the standard temperature. Bit 9: POS max error Set to 1, if the current position is higher than the maximum
position. Bit 8: POS min error Set to 1, if the current position is lower than the minimum
position.

REG_POSITION
The current position value of CAN Servo and the range is 0 to +16383. Based on the position `0′, it can be operated 360° in clockwise direction.

Address Length R/W Default Min

Max

0x0C

2

R/O

–

The resolution is 4096 = 90°

0

16383

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_VELOCITY
The current speed (VEL) of the SERVO and the unit is pos/100msec. It is shown through the following equation. PT (PID SAMPLE TIME) = Register 0x3A V = speed: unit sec / 60° VEL = speed conf. value: Register 0x0E RPM = VEL 10 90 / 4096 / 360 60 / PT 10 VEL = ( 1 / (V / 60) ) x PT / 10 4096 / 90 / 10 If PT = 10
VEL = (about)27.33 RPM V =(about)273.06 / VEL

Address Length R/W Default Min

Max

0x0E

2

R/O

–

0

65535

Please note that the calculation formula and unit differ depending on the version of

SERVO.

Firmware

RPM Calculation

Reg 0x0E’s Unit

FW Ver < 1.3

RPM = VEL100090/4096/36060/PT10

Pos/1msec

FW Ver >= 1.3

RPM = VEL1090/4096/36060/PT10

Pos/100msec

The unit’s Pos is the value of REG_POSITION, which is 4096=90°

REG_TORQUE
The Duty of current Motor’s PWM. It affects the torque.

Address Length R/W Default Min

0x10

2

R/O

0

It outputs 100% Duty at 4095

Max 4095

REG_VOLTAGE
The value of current supply voltage. It represents 0.01 V per 1 register value. If the value is 1200, the actual supply voltage is 12V.

Address Length R/W Default Min

Max

0x12

2

R/O

–

0

65535

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_MCU_TEMPER
The internal temperature of MCU. It can be set to 1 per data value and the actual temperature is 20°C when the value of Register is 20.

Address Length R/W Default Min

Max

0x14

2

R/O

0

-57

196

REG_TURN_COUNT
The current number of rotations. In case of + 360° position, it is +1. In case of -360° position, Register value is -1.

Address Length R/W Default Min

Max

0x18

R

2

0

(R/W)

R/W Type = R/W, if F/W Ver >= v1.4

-32760 +32760

REG_32BITS_POSITION_L
The low value of current position (angle).

Address length R/W Default Min

Max

0x1A

2

R/O

–

0

65535

REG_POSITION + (REG_TURN_COUNT *16384 ) Low Word

REG_32BIT_POSITION_H
The high value of current position (angle).

Address length R/W Default Min

Max

0x1C

2

R/O

–

65535

2^31

REG_POSITION + (REG_TURN_COUNT *16384 ) High Word

REG _TIME_L
The operating time after SERVO power is turned on. It is the low value and the total running time can be checked by adding up the high value with low value. 1sec per value. If Register value is 20, run time is 20 seconds.

Address
0xC8

Length 2

R/W R/O

Default 0

Min -32760

Max
32760

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG _TIME_H
The operating time after SERVO power is turned off. It is the high value and the total running time can be checked by adding up the high value with low value. 65535sec per value. If Register value is 10, run time is 655350 seconds.

Address
0xCA

Length 2

R/W R/O

Default 0

Min -32760

Max
32760

REG_PRODUCT_NO
Read the production number of SERVO

Address Length R/W Default Min

Max

0x74

2

R/O

–

0

65535

REG_VERSION
Read the version of SERVO

Address Length R/W Default Min

0xFC

2

R/O

–

0

Max
65535

REG_VERSION(BIT_INVERSE)
Read the version of SERVO (BIT INVERSE)

Address Length R/W Default Min

0xFE

2

R/O

–

0

Max
65535

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-4 Status 2
The registers to check the status of the motor current or temperature.
REG_CURRENT
The current value used. It can be set to 1mA per data value and the actual current is 10A when the value of Register is 10000.

Address Length R/W Default Min

Max

0x16

2

R/O

0

65535

This function works only for current circuit model only (ex: SG series, MDB950SW)

REG _MOTOR_TEMP
The temperature of the current Motor. The temperature value of the motor can be calculated by the following equation. T0 = 298.15, VT = 3.3 / 4096 data Rt = (10 VT) / (3.3 – VT) Temperature() = 1007747 / (log(Rt) * T0 – log(10)

T0 + 3380) – 273.15

Address Length R/W Default Min

Max

0xD0

2

R/O

0

-32760 32760

This function works only for motor temper sensor equipped model only

(ex: SG series, MDB950SW)

REG_TEMP
The internal temperature of the current SERVO. The temperature value of the SERVO can be calculated by the following equation. Temperature() = 175.72 * data / 65536 – 46.85;

Address Length R/W Default Min

Max

0xD2

2

R/O

0

-32760 32760

This function works only for humidity sensor model only (ex: SG series)

REG_HUM
The relative humidity inside the SERVO. The humidity value of the SERVO can be calculated by the following equation. Humidity(%RH) = 125 * data / 65536 – 6;

Rev 2.02_EN

Address Length R/W Default Min

Max

0x4D

2

R/O

0

65535

This function works only for humidity sensor model only (ex: SG series)

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-5 Action
It is the Register to operate CAN SERVO.
REG_POSITION_NEW
Specify a new position for SERVO with a resolution of 4096 = 90°

Address length R/W Default Min

Max

0x1E

2

R/W

–

0

16383

In SERVO Mode, it only can move from the range of POSITION_MIN_LIMIT to

POSITION_MAX_LIMIT.

REG_TURN_NEW
Set the number of rotations. The initial value is 0. If set +1, the servo rotates 360° in the + direction relative to 0.

Address length R/W Default Min

0x24

2

R/W

0

It only operates in TURN Mode.

-32760

Max
32760

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-6 Communication
Register that set the communication environment of the servo. Communication Data can be saved and initialized.

REG_ID
Set the ID. Set the ID. If multiple CAN SERVOs are connected by the same signal line, the ID must be assigned a unique value. Only the CAN SERVOs that matches the ID of the packet will recognize the corresponding packet. Unmatched CAN SERVOs will not respond. Each device(Node) of DroneCAN network has a Unique Node ID. Set the servo Node ID value. It can be set from 1 to 127. However, please set REG_CAN_BUS_ID_H = 0, REG_CAN_BUS_ID_L = 128

Mode

Address length R/W Default Min

Max

CAN 2.0A, B DroneCAN

0x32

0

2

R/W

0

255

0

127

If REG_ID is changed and saved, it operates with changed ID from the next power

reset.

REG_BAUDRATE
Set the Baud Rate. It can support communication speeds from at least 125 Kbps up to 1000 Kbps.

Address length R/W Default Min

Max

0x38

2

R/W

5

0

8

REG_BAUDRATE 0 1 2 3 4 5 6 7 8

Baud Rate 1000 Kbps 800 Kbps 750 Kbps 500 Kbps 400 Kbps 250 Kbps 200 Kbps 150 Kbps 125 Kbps

If you save after changing BAUDRATE, it operates at changed baud rate after power reset.
REG_CAN_BUS_ID_H

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

Set the CAN BUS ID. CAN BUS ID can be set by adding high value and low value. In DroneCAN, set the value to 0.

Mode

Address Length R/W Default Min

CAN 2.0A, B

0

0x3C

2

R/W

DroneCAN

0

Max
8191 0

REG_CAN_BUS_ID_L
Set CAN BUS ID. CAN BUS ID can be set by adding low value and high value.

Mode

Address Length R/W Default Min

Max

CAN 2.0A, B

0

0x3E

2

R/W

DroneCAN

0

In CAN 2.0A, it can be specified from 0 to 2047.

65535
128

In case of CAN 2.0B, it is available to designate 0 ~ 536870911 as low and high data.

To change this item, save and power reset are required.

Recommended in DroneCAN status: Set this value to 128 and set the node ID

(actuator) value of the servo in REG_ID[0x32]. In DroneCAN state, if this value is between 1 and 127, the servo compares whether

it matches the Src Node ID value of ArrayCommand.

In DroneCAN state, if this value is 128, the servo ignores the Src Node ID value of

ArrayCommand. (However, F/W Ver 1.3 or higher is required)

REG_ SAMPLE_POINT
Selects the sampling point ratio of the CAN communication signal.

Address length R/W Default Min

Max

0x40

2

R/W

0

1

0 = 50% and 1 = 87.5%

To change it, save and power reset are required.

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_CAN_MODE
Set CAN MODE.

Address length R/W Default Min

Max

0x6A

2

R/W

–

0

2

0 = CAN 2.0, 1 = CAN 2.0B, 2 = DroneCAN

To change it, save and power reset are required.

If the F/W type is C, it cannot be changed to DroneCAN.

If the F/W type is U, it cannot be changed to CAN 2.0A, 2.0B.

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-7 MODE
This Register is used to set RUN MODE of Servo. MODE Data can be saved and initialized.

REG_RUN_MODE
Select SERVO MODE or Multi-Turn MODE of CAN SERVO. In case of DroneCAN, only SERVO MODE is available before F/W v1.6(2) version.

Address length R/W Default Min

Max

0x44

2

R/W

1

0

1

0= Multi-Turn MODE, 1= SERVO MODE, 2= CR, 3 = Speed

To change it, save and power reset are required.

SERVO MODE SERVO MODE is the mode to control within 0~360 degree. By using REG_POSITION_MIN_LIMIT and REG_POSITION_MAX_LIMIT, you can adjust the angle of CAN SERVO.
Multi-Turn MODE Multi-Turn MODE is the mode to control until ±32760 turns. By using REG_TURN_NEW, you can adjust the number of turns. And also, by using REG_POSITION_NEW, you can adjust the position.
CR MODE F/W Ver >= v2.0 This is continuous rotation mode. It specifies only the motor direction and output. Actual rotation speed may vary depending on external load. POS_MIN, POS_MAX values become -100%, +100%.
Speed MODE F/W Ver >= v2.0 This is continuous rotation mode. Adjusts the output to the specified speed. The motor output varies according to the load to keep the rotational speed constant. POS_MIN, POS_MAX values become -100%, +100%. The speed set in Reg 0x54 VELOCITY MAX becomes 100%. Set the speed at which the motor can actually operate. Think of 32767 as infinity.

REG_POS_LOCK_TIME
Set the operation time, when CAN SERVO is in OLP condition. 1 = 1 second. If you set 3, OLP will be activate when CAN SERVO is being in OLP condition over 3 seconds.

Rev 2.02_EN

Address length R/W Default Min

Max

0x9A

2

R/W

3

At 0, OLP is activate all the time.

0

5000

Only activate in SERVO MODE ( Not applicable in Multi-turn MODE

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_POS_LOCK_TORQUE_RATIO
Set the Torque when OLP is activate. The torque is output as much as the percentage of the currently set torque. 1= 1% and 100 = 100%.

Address length R/W Default Min

Max

0x9C

2

R/W

100

0

100

Only activate in SERVO MODE ( Not applicable in Multi-turn MODE )

REG_POSITION_MAX_LIMIT

Set the maximum position that can be operated. Data = 0~ +16383 and the resolution of data = 4096 = 90°.

Address length R/W Default Min

Max

0xB0

2

R/W 15018

0

16383

If the value of REG_POSITION_NEW is set higher than REG_POSITION_MAX_LIMIT, it

does not move.

REG_POSITION_MAX_LIMIT should be set higher than REG_POSITION_MIN_LIMIT

value.

REG_POSITION_MID
Set the center value of the position that can be operated. Data = 0~ +16383 and the resolution of data = 4096 = 90°

Address length R/W Default Min

Max

0xC2

2

R/W 8192

0

16383

It should be set to the center value between REG_POSITION_MAX_LIMIT and

REG_POSITION_MIN_LIMIT.

REG_POSITION_MIN_LIMIT
Set the minimum position that can be operated. Data = 0~ +16383 and the resolution of data = 4096 = 90°.

Address length R/W Default Min

Max

0xB2

2

R/W 1366

0

16383

If the value of REG_POSITION_NEW is set lower than REG_POSITION_MIN_LIMIT, it

does not move. REG_POSITION_MIN_LIMIT should be set lower than REG_POSITION_MAX_LIMIT

value.

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-8 Option
Register to set Servo function. Option data can be saved and initialized.

REG_STREAM_TIME
Set the time of the stream period. Units can be set to either Period or Frequency.

Address length R/W Default Min

Max

0x2E

2

R/W 1000

Period : 0 ~ 10000 ms

0

11000

Frequency : 10001 ~ 11000 = (Value-10000) Hz ( F/W Ver >= v1.4(2) )

REG_STREAM_MODE
Set STREAM MODE ON / OFF.

Address length R/W Default Min

Max

0x30

2

R/W

0

1

0: STREAM_MODE_OFF, 1: STREAM_MODE_ON

STREAM_MODE CAN SERVO returns REG_POSITION and REG_TURN_COUNT values automatically at
specified time intervals without the need for manual read by HOST. (Return REG_TURN_COUNT only when using TURN MODE.)

REG_STREAM_ADDR_0

Set the desired data Adder when outputting in Stream Mode.

15

14

13

12

11

10

9

8

Stream Custom 2 Adder

7

6

5

4

3

2

1

0

Stream Custom 1 Adder

Rev 2.02_EN

Address length R/W Default Min

Max

0xE2

2

R/W

0

65535

Bit 7~0: Adder of Stream Custom 1 Bit 15~8: Adder of Stream Custom 2 If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION and
REG_TURN_COUNT values are returned. Applicable only when the servo is CAN2.0A or CAN2.0B

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_STREAM_ADDR_1
Set the desired data Adder when outputting in Stream Mode.

15

14

13

12

11

10

9

8

Stream Custom 4 Adder

7

6

5

4

3

2

1

0

Stream Custom 3 Adder

Address length R/W Default Min

Max

0xE4

2

R/W

0

65535

Bit 7~0: Adder of Stream Custom 3 Bit 15~8: Adder of Stream Custom 4 If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION,
REG_TURN_COUNT values are returned. Applicable only when the servo is CAN2.0A or CAN2.0B

REG_STREAM_ADDR_2
Set the desired data Adder when outputting in Stream Mode.

15

14

13

12

11

10

Stream Custom 6 Adder

7

6

5

4

3

2

Stream Custom 5 Adder

9

8

1

0

Address length R/W Default Min

Max

0xE6

2

R/W

0

65535

Bit 7~0: Adder of Stream Custom 5 Bit 15~8: Adder of Stream Custom 6 If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION,
REG_TURN_COUNT values are returned. Applicable only when the servo is CAN2.0A or CAN2.0B

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_STREAM_ADDR_3

Set the desired data Adder when outputting in Stream Mode.

15

14

13

12

11

10

9

8

Stream Custom 8 Adder

7

6

5

4

3

2

1

0

Stream Custom 7 Adder

Address length R/W Default Min

Max

0xE8

2

R/W

0

65535

Bit 7~0: Adder of Stream Custom 7 Bit 15~8: Adder of Stream Custom 8 If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION,
REG_TURN_COUNT values are returned. Applicable only when the servo is CAN2.0A or CAN2.0B

REG_POWER_CONFIG

Set the power management method.

15

14

13

12

Reserved

7

6

5

4

Reserved

11

10

9

8

Forced Emergency Stop

Reserved

3

2

1

0

S/W RESET

Rev 2.02_EN

Address length R/W Default Min

Max

0x46

2

W

–

0

65535

Bit 15~11, 7~1: Reserved Do not use. Bit 10~9: Forced Emergency Stop Use Forced Emergency Stop function
0: OFF 1: Motor_Free
(Forced Emergency Stop is turned ON when the motor power is off.) 2: Speed_Down
(After Motor Speed decreases (REG_SPEED_ES setting) and stops, the motor goes into the HOLD state and Forced Emergency Stop is turned ON.) 3: Motor_Hold (The motor goes into the Hold state and Forced Emergency Stop is turned ON.) Bit 0: Reset Software Reset of SERVO
1: Reset On (Reset to 0)

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_DEADBAND
Set Dead Band area of SERVO.

Address length R/W Default Min

Max

0x4E

2

R/W

0

4095

If the value is high, Jitter may occur during operation. ( 20 or less recommended )

REG_POS_MAX
Set the maximum position value that operates in the normal state. Data = 0~ +16383 and the resolution of data = 4096 = 90°.

Address length R/W Default Min

Max

0x50
0 = Off

2

R/W 16383

0

16383

REG_EMERGENCY_STOP condition is met, if the REG_POSITION value is higher than

REG_POS_MAX.

REG_POS_MIN
Set the minimum position value that operates in the normal state. Data = 0~ +16383 and the resolution of data = 4096 = 90°.

Address length R/W Default Min

Max

0x52
0 = Off

2

R/W

0

16383

REG_EMERGENCY_STOP condition is met, if the REG_POSITION value is lower than

REG_POS_MIN.

REG_SPEED_VOLTAGE
Set the reference voltage for the maximum speed of SERVO. It compares with the input voltage of SERVO and adjusts the ratio of the maximum speed value. EX) REG_VELOCITY_MAX(SPEED) = 2000, REG_SPEED_VOLTAGE = 120, If REG_VOLTAGE value is 60, the actual maximum speed is applied as 60/120*2000=1000 in voltage proportion and operates.

Rev 2.02_EN

Address length R/W Default Min

Max

0xDA

2

R/W

0

65535

Even if the REG_VOLTAGE value is higher than the REG_SPEED_VOLTAGE value, the

REG_VELOCITY value is not set higher than REG_VELOCITY_MAX(SPEED).

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_SPEED_UP
Set the acceleration time of SERVO. The unit is ms and it accelerates at maximum speed for 10 ms.

Address length R/W Default Min

Max

0xDC

2

R/W

0

65535

If the data value is 0, it moves at constant speed at the maximum speed.

REG_SPEED_DN
Set the deceleration time of SERVO. The unit is ms and it decelerates for 10ms and stops at the stop position.

Address Length R/W Default Min

Max

0xDE

2

R/W

0

65535

If the data value is 0, it moves at constant speed at the maximum speed.

REG_SPEED_ES
Set the deceleration time when Forced Emergency Stop occurs. The unit is ms. If the value is 10, when Forced Emergency Stop occurs, it decelerates and stops for 10 ms.

Address length R/W Default Min

Max

0xE0

2

R/W

0

65535

If the data value is 0, it stops immediately when Forced Emergency Stop occurs.

It cannot be set higher than REG_SPEED_DN

REG_INERTIA_RANGE
Set the rate when INERTIA occurs in SERVO. In the range of 2~4095, the ratio of the Gain Range value can be set to 0 to 100%, and the Smart Sense that automatically adjusts the ratio can be turned On/Off.

Rev 2.02_EN

Address length R/W Default Min

Max

0x64

2

R/W

0

4095

When the data value is 0, the Smart Sens is turned OFF, and the Gain Range value

is 100%. When the data value is 1, the Smart Sense is turned ON to automatically adjust the

Gain Range value. Smart Sense

When SERVO generates continuous INERTIA due to the load, it reads the average

value of the INERTIA and adjust the Gain Range value to prevent INERTIA.

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_VELOCITY_MAX(SPEED)
Set the maximum speed value that operates in a normal state and its unit is pos/100msec. It is shown through the following equation. RPM = SPEED 10 90 / 4096 / 360 60 SPEED =(about)27.33 RPM SPEED= ( 1 / (V / 60) ) * 4096 / 90 / 10 V(sec/60°) =(about)273.06 / SPEED The unit of V is sec/60°

Address length R/W Default Min

0x54

2

R/W

–

0

Max 4095

Please note that the calculation formula and unit differ depending on the version of

SERVO.

Firmware

Calculation

Unit

Previous version

SPEED = V100090/4096/360*60

Pos/1msec

X.3

SPEED= V1090/4096/360*60

Pos/100msec

The unit’s Pos is the value of REG_POSITION, which is 4096=90°

REG_TORQUE_MAX
Set the maximum width of the motor PWM duty. 4095 = 100%

Address length R/W Default Min

0x56

2

R/W 4095

0

Max 4095

REG_VOLTAGE_MAX
Set the highest voltage that operates in the normal state. 1 = 0.01V. 1200 = 12V.

Address length R/W Default Min

Max

0x58

2

R/W

0

65535

0 = Off

REG_EMERGENCY_STOP condition is met, if the REG_VOLTAGE value is higher than

REG_VOLTAGE_MAX.

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_VOLTAGE_MIN
Set the lowest voltage that operates in the normal state. 1 = 0.01V. 1200 = 12V.

Address length R/W Default Min

Max

0x5A
0 = Off.

2

R/W

–

0

65535

REG_EMERGENCY_STOP condition is met, if the REG_VOLTAGE value is lower than

REG_VOLTAGE_MIN.

REG_TEMPER_MAX
Set the maximum temperature value at which MCU TEMPER operates in a normal state. 1 = 1°C, 20 = 20°C.

Address length R/W Default Min

Max

0x5C
0 = Off.

2

R/W

0

-32767 32767

REG_EMERGENCY_STOP condition is met, if REG_MCU_TEMPER value is higher than

REG_TEMPER_MAX.

REG_TEMPER_MIN
Set the maximum temperature value at which MCU TEMPER operates in a normal state. 1 = 1°C, 20 = 20°C.

Address length R/W Default Min

Max

0x6C
0 = Off.

2

R/W

0

-32767 32767

REG_EMERGENCY_STOP condition is met, if REG_MCU_TEMPER value is lower than

REG_TEMPER_MIN.

REG_ECHO
This value can be set by the user. It will be 0 when the SERVO is reset.

Address length R/W Default Min

Max

0xC6

2

R/W

0

65535

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REG_USER_1
It is a data address that users can save randomly.

Address length R/W Default Min

Max

0xCC

2

R/W

0

65535

Only after SAVE after changing REG_ECHO, it can be saved after power reset.

REG_USER_2
It is a data address that users can save randomly.

Address length R/W Default Min

Max

0xCE

2

R/W

0

16383

Only after SAVE after changing REG_ECHO, it can be saved after power reset.

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-9 Option (Current Circuit Model Only) REG_SPEC_TORQUE
Set the maximum power of the torque output. 1 = 10mW. 9000 = 90W.

Address length R/W Default Min

Max

0x26

2

R/W

0

65535

REG_CURRENT_MAX
Set the maximum current to limit for products with a current measurement circuit. 1 = 1mA, 10000 = 10A.

Address length R/W Default Min

Max

0xD8

2

R/W 65535

0

65535

0 = Off.

2-10 Option (DroneCAN Only) REG_UNITLESS_RAD_MODE
Sets the unit of angle for stream mode.

Address length R/W Default Min

Max

0x2C

2

R/W

0

1

0 = Unitless, 1 = Radian

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-11 Configuration
The Register to configure CAN SERVO.

REG_DEFAULT
Restore all register values to factory default or recently saved. Writing 3855 to this register will return all register values to their factory defaults. If you write 0xFFFF, it will return to the last saved state. If you want to maintain this state after power reset, you should save all the register values using REG_CONFIG_SAVE register.

Address length R/W Default Min

Max

0x6E

2

W

–

When returning to the factory defaults, all register values you have changed will be

erased. Please be careful to use.

REG_CONFIG_SAVE
Save all register change values. Even if the register value is changed, it will return to the last saved setting after the power is reset. If you write 0xFFFF to DATA, all current register values are saved and you can maintain the current state even after power reset.

Address length R/W Default Min

Max

0x70

2

R/W

0

65535

After saved, previous Configuration Register values cannot be recalled. Please be

careful to use.

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-12 Additional Function (F/W Ver >= v1.4)
Functions added by F/W update and is applied from F/W v1.4 onwards.

REG_STATUS

Check the status of E_STATUS.

15

14

13

12

11

Reserved

7

6

5

4

3

Reserved

10

9

8

2

1

0

Over current

Enabled

Address length R/W Default Min

Max

0x06

2

R

–

0

3

Bit 0: Flag that becomes 1 if possible to refer to REG_STATUS 0 = disabled, 1= enabled(referenceable)
Bit 1: Over Current status. ( SG50 only ) 0 = Normal status, 1 = Over Current status

REG_REF_1

Address length R/W Default Min

Max

0xA6

2

R

–

0

1

If Bit 0 = 1, e_PAD_VOLT [0xA8] can be referenced.

REG_PAD_VOLT
The operating voltage of the installed PAD

Address length R/W Default Min

Max

0xA8

2

R

–

0

65535

Low Byte = Voltage 1 [V]

High Byte = Voltage 2 [V]

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_SETUP
Set functions such as PAD’s operating voltage.

Address length R/W Default Min

Max

0xA2

2

R/W

–

0

65535

Bit 0 = PAD Set the operating voltage, 0 = Voltage 1, 1 = Voltage 2

Bit 1 = Use Start Position

Bit 2 = Use Brake Instead Free ( BLDC Servo Only )

Bit 3 = Use Over Volt Brake

Bit 7 = Use Custom Stream CAN ID ( F/W Ver >= v1.5(1) )

Bit 10 = Use Fail Safe ( F/W Ver >= v1.5(2) )

Bit 12 = Use Realtime ID1, ID2 ( F/W Ver >= v2.0 (exactly 1.11) )

If enabled, ID1(Servo ID) and ID2(Node ID) are applied immediately without Servo

Reset. Bit 15 = Motor Direction = 0(normal), 1(reverse) ( F/W Ver >= v2.1 )

REG_START_POSITION
This is Power On Start Position ( Not Fail Safe Position )

Address length R/W Default Min

Max

0x7A

2

R/W

0

16383

You must set e_SETUP (0xA2) bit 1 = 1, if you want use start position function.

REG_OVERVOLT_BRAKE_VOLTAGE
When a voltage higher than the set voltage is generated, the electromagnetic brake is applied to lower the voltage generation.

Address length R/W Default Min

Max

0x80

2

R/W

0

65535

This is Over Voltage Brake Function’s Voltage Value. Ex) 1000 = 10.00V

You must set e_SETUP (0xA2) bit 3 = 1

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

2-13 Additional Function (F/W Ver >= v1.5)
Functions added by F/W update and is applied from F/W v1.5 onwards.
REG_TMP_CONFIG
The initial value is 0.

Address length R/W Default Min

Max

0x20

2

R/W

0

65535

Bit 0 = 1(Pause Stream), 0(Active Stream) F/W Ver >= v1.5

REG_CUSTOM_STREAM_CAN_ID_H

Set the value of Custom CAN ID High 2 bytes for Stream packet.

Only available from F/W Ver >= v1.5(1)

15

14

13

12

11

10

9

8

2.0B

Custom CAN ID bits

Address Length R/W Default Min

Max

0x3A

2

R/W

–

0

65535

Reg 0x3A bit 15 = 1(CAN 2.0B), 0(CAN 2.0A) Reg 0x3A bit 14:0 = High Word of CAN ID You must set e_SETUP(0xA2) bit 7 = 1

REG_CUSTOM_STREAM_CAN_ID_L
Set the value of Custom CAN ID Low 2 bytes for Stream packet. Only available from F/W Ver >= v1.5(1)

Address Length R/W Default Min

Max

0x42

2

R/W

–

0

65535

bit 15:0 = Low Word of CAN ID You must set e_SETUP(0xA2) bit 7 = 1

REG_FAIL_SAFE_POSITION – FW Ver >= 1.5(1)
Set the Failsafe Position.

Address length R/W Default Min

0x94

2

R/W

0

You must set e_SETUP (0xA2) bit 10 = 1

Max 16383

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CAN 2.0A/B / DroneCAN Servo Control Protocol Manual

REG_FAIL_SAFE_TIME
Set the time period for the condition where Fail Safe activates. Unit is ms. Only available from F/W Ver >= v1.5(1)

Address length R/W Default Min

0xB4

2

R/W

0

You must set e_SETUP (0xA2) bit 10 = 1

Max 65535

2-14 Additional Function (F/W Ver >= 1.6(3) and Ver < 1.7) REG_TURN_MULTIPLIER
In DroneCAN, Multi-TURN state, magnify the target +/-1.0 by the specified magnification.

Address 0xAC

Length 2

R/W Default Min

Max

R/W

0

-32760 +32760

2-15 Additional Function (F/W Ver >= v2.1) REG_SETUP_2

Address length R/W Default Min

Max

0xA0

2

R/W

–

0

65535

Bit 0 ~ 14 : System Configuration Bits – You must keep these bits.

Bit 15 = Enable SETUP_EX_X Registers (ex: SETUP_EX_3) Keep bit 1 if already 1

There are many hidden system settings in SETUP_EX registers,

so if it is already ON, you should never change it to OFF.

REG_SETUP_EX_3

Address Length R/W Default Min

Max

0x41

2

R/W

–

0

65535

Bit 0 = Reversed bit – You must keep this bit. Bit 1 = Enable TURN_MULTIPLIER function Bit 2 ~ 15 = Reversed bits – You must keep these bits. You must set REG_SETUP_2(0xA0) bit 15 = 1

REG_TURN_MULTIPLIER
In DroneCAN, Multi-TURN state, magnify the target +/-1.0 by the specified magnification.

Rev 2.02_EN

Address 0xAC

Length 2

R/W Default Min

Max

R/W

0

-32760 +32760

You must set REG_SETUP_EX_3(0x41) bit 1 = 1 and REG_SETUP_2(0xA0) bit 15 = 1

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