CAN Protocol Analysis

v1.5.0 Update Log:

1.Added DQ voltage control mode and DQ current control mode.

v1.5.3 Update Log:

1.Added torque data for the 6056 motor.

v1.5.4 Update Log:

1.Improved Excel data.

v1.5.5 Update Log:

1.Added instructions for "reading motor status" in the document. 2.Optimized instructions for "periodically returning motor status data".

v2.0.0 Update Log:

1.Added functions such as unit conversion and torque correction.

2.Improved the motor status information parsing function.

3.Added a zero position reset function with feedback.

4.Added a function to query motor firmware version information.

5.Added trapezoidal control mode (pos_vel_acc) and motion control mode (MIT mode: pos_vel_tqe_kp_kd).