Servosila-SC-25-Programming-Guide

SLCAN Text Protocol
Format of an SLCAN text message
Serial Port Settings
Since the USB serial port is a virtual one, it does not matter what serial port settings are used.
If in doubt, use the following settings:
Baud rate: 115200, Data bits: 8, Stop bits: 1, Parity: None, Flow control: None.
21 www.servosila.com
t2058200000000000C842[CR]
Node ID + COB ID
Payload (8 bytes, binary)CAN ID (11 bits)
0 1 2 3 4 5 6 7
Every SLCAN message ends with
a carriage return (CR) symbol (ASCII 0xD).
The Payload is encoded as a string of 16 hexadecimal symbols (ASCII).
Every byte of the original binary 8bytes payload is represented by 2 symbols.
So, there are 8*2 hexadecimal symbols in the payload sub-string.
Number of bytes in the original payload.
Encoded as a single ASCII character.
Always 8.
CAN ID encoded in hexadecimal ASCII format.
Every SLCAN message starts with either symbol ‘t’ or ‘T’ (ASCII).
Low-case ‘t’ means 11bit CAN ID identifiers.
Capital ‘T’ means a 29bit CAN ID identifiers.
Servosila SC-25 Brushless Motor Controllers use 11bit identifiers only.
However, the USB-to-CAN function of the controllers can use 29bit identifiers
when routing messages from third-party devices.