Servosila-SC-25-Programming-Guide

Decoding a READ RESPONSE
Notes:
• Command Code = 0x80 means an error response, typically, caused by an invalid index or
sub-index in a read request.
• The Index is encoded in the “little-endian format” (UINT16).
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Node ID + COB ID
Payload (8 bytes, binary)CAN ID (11 bits)
0 1 2 3 4 5 6 7
Node ID (source 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 = 0x580 (“read response”)
Command Code
The code indicates the size of the Value in bytes:
0x43 means “4 bytes”, 0x47 means “3 bytes”, 0x4B means “2 bytes”,
0x4F means “1 byte”, 0x40 means “unknown”, 0x80 means “error”.
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
Value
A data type of the value is defined in
Servosila Device Reference document.