Hi The 0x60,0x61 and 0x62 does work but not as the documentation in the Servo Motor Control Protocol V2.0 documentation shows. If we issue a 0x60, 0x00,0x00,0x00,0x00,0x00,0x00,0x00 command while unit is at 10 degrees we get back a response of 0x60, 0x00,0x00,0x00,0xAB, 0x2A, 0x00, 0x00. This is a hex value of 00002AAB equal to 10923 in decimal. Div by 65536 then multiply by 60 will give the angle at 10.0005 degrees. In the response the Data(0) is command echo, Data(1), Data(2),Data(3) is null. Data(4) is lowest byte. Data(5) IS 2nd byte, Data(6) is 3rd byte and Data(7) is highest byte. 0x60, 0x00,0x00,0x00,0x01, 0x00, 0x00 0x00 would be0.0009 degrees 0x60, 0x00,0x00,0x00,0xFF, 0xFF, 0xFF, 0xFF would be 3932159.9991 degree or -0.0009 degrees. The servo motor control protocol you link to is an older version. V1.61. I believe that the current firmware needs updated documentation.

@S N Your welcome. Glad you got it working

@S N Didn't you say it work with the software show in the screen shot?

@S N Let me know if you get it working ok

I used the code below based on your code and it worked on my RMDX8 (changes made for my USB adapter) I used data = ['0x88','0x00','0x00','0x00', '0x00', '0x00','0x00','0x00'] to start the motor I used data = ['0xA4','0x00','0xF0','0x00', '0x00', '0x30','0x00','0x00'] to make small slow move I used data = ['0xA4','0x00','0xF0','0x00', '0x00', '0x00','0x00','0x00'] to return to zero and I used data = ['0x80','0x00','0x00','0x00', '0x00', '0x00','0x00','0x00'] to stop the motor import can bus = can.interface.Bus(bustype='pcan', channel="PCAN_USBBUS1", state=can.bus.BusState.ACTIVE, bitrate=1000000) data = ['0x80','0x00','0x00','0x00', '0x00', '0x00','0x00','0x00'] bytear = bytes([int(x,0) for x in data]) with bus: msg = can.Message(arbitration_id = 0x141, data=bytear, is_extended_id=False, is_remote_frame=False) try: bus.send(msg, timeout=0.2) print('Success') print(msg) except can.CanError as e: print(str(e))

I am not a coder but I think "bus =Bus(bustype='usb2can', channel="0", bitrate=1000000, dll='usb2can.dll')" should be "bus =can.interface.Bus(bustype='usb2can', channel="0", bitrate=1000000, dll='usb2can.dll')"

Hi I do not have a RMD x8 Pro but I do have two RMD x8 units. I have been finding that the "Servo Motor Control Protocol V2.0" documentation is not correct for some read commands such as 0x60, 0x61, 0x62 and 0x92 but will return a value and through trial an error I have determined how to interpret the return frame. Command 0x90 does not work. I am not sure about the 0xA7 command but I do know the 0xA4 command works as documented. To do a small slow move use A4, 00,F0,00,00,30,00,00. Bit 3 and 4 is speed, Bit 5,6,7,8 is position This should give a small move if multiturn encoder is at 0. Also a motor on command 0x88 needs to be sent before the motor will move. The 0xA4 command will send reply even if motor is not on. The motor will just not move. This may be best way to test the code at first. Try the the the 0xA4 command on the Usc2canBus software first to see is you get a response. I am not use to that software. I am using Pcan-View as I got a Peak USB to CAN unit. the Frame ID I use in that is 141 (no leading zero, 143 in your case). For your Python code you may need to set the bus state to ACTIVE.

Does the RMD-X8 Unit return to a position that is 60 degrees or a multiple of 60 degrees from where you set it or is it not taking the command at all? My co-work found that the units will return to zero position in one of 6 places around the actuator. I believe this is due to the 6 to 1 gear ratio of the motor. The encoder is reading the motor position, not actuator position. The driver board keeps track of actuator output positions . This is my opinion from turn the units on and off at different locations and noting the zero position.

Hi. I do not know if you found the answer to the first question yet. On page 25 of "Servo Motor Control Protocol V2.0 state "2. Motor torque current Iq (int16_t type, Range:-2048~2048, real torque current range:-33A~33A)" . So 1 bit = 33/2048 or 0.0161 A. I don't have an answer to the second question.