Servosila-SC-25-Programming-Guide

Encoding a READ REQUEST
Notes:
• Payload bytes 4-7 are not used in this message. The bytes are usually set to all zeros.
• The Index is encoded in the “little-endian format” (UINT16).
• Command Code = 0x20 means “write request”. This code can be used to
programmatically change configuration parameters. The payload bytes 4-7 are then used
to deliver a new value to be written into a configuration parameter. The type of the value
must match a data type specified in Servosila Device Reference for the configuration
parameter that needs to be programmatically updated.
17 www.servosila.com
Node ID + COB ID
Payload (8 bytes, binary)CAN ID (11 bits)
0 1 2 3 4 5 6 7
Node ID (destination device)
The parameter is a unique identifier assigned to each controller.
This parameter tells which controller the command is directed to.
The ID of a particular device can be changed using
the “Servoscope” software tool.
COB ID = 0x600 (“read request”)
Command Code = 0x40 (“read, unknown size”)
Index
Each telemetry or configuration parameter has an Index defined
in Servosila Device Reference document for that particular parameter.
For example, a telemetry parameter “Torque” has index = 0x4001
Sub-Index
Each telemetry or configuration parameter has a Sub-Index defined
in Servosila Device Reference document for that particular parameter.
For example, a telemetry parameter “Torque” has sub-index = 0x02