2. CAN Specification

(a) The CAN specification used by ServoMax is as follows.

Table 3. CAN Specification and Use Cases

(b) The time required to transmit and receive OP CMD Msg and OP RESP Msgs is as shown below (based on a baudrate of 500kbps). However, the actual CAN Msg transmission time may vary depending on various factors(see the figure below)

Figure 4. Tx/Rx Time Duration, OP CMD Msg + OP RESP Msg 2ea