5. Operation Command & Response Message

5.1 Data Type Convention

The data type convention used in this document is as follows.

5.2 OP CMD Msg, to ServoMax

When using Msg Field Data for transmit and receive, apply the Scale Factor (inverse of Resolution), except for BOOL type. For example, if you transmit a position command of 34.56 degrees (Physical Value) to the ServoMax, the Scale Factor is 100 (the inverse of Resolution 0.01). Therefore, the CAN Msg Field Data (POS_CMD) would be3456 (0x0D80).

DataField[2] = 0x0D (Big Endian)

DataField[3] = 0x80.

Table 4. OP CMD Msg Frame

---

²X = Don't care

5.3 Normal Response Msg, from ServoMax

5.3.1 OP RESP Msg 0, Normal

Table 5. RESP Msg0 Frame

---

³Resolution ⁴This is the same information as in the PBIT_REQUEST and is also included in the Normal Response Msg to allow direct and intuitive access without requiring a PBIT_REQUEST. (This is because not all users are familiar with the Aerospace PBIT concept.) ⁵Checked only during the PBIT at the Startup. After PBIT is completed, the Voltage Sensor is used to detect Regenerative Voltage. ⁶Regenerative Voltage occurs when an external force applied to the servo output shaft accelerates the servo’s control speed.

5.3.2 OP RESP Msg 1, Normal

Table 6. RESP Msg1 Frame

5.4 PBIT Response Msg, from ServoMax

5.4.1 OP RESP Msg0, PBIT[0..3]

5.4.2 OP RESP Msg1, PBIT[4..7]