G15 half duplex communications

[spanner]

How does the G15 servo handle response messages when the mcu is transmitting. Does the message buffer until the MCU finishes transmitting and the Transmit enable pin is disabled or is the message discarded

[A380]

How does the G15 servo handle response messages when the mcu is transmitting. Does the message buffer until the MCU finishes transmitting and the Transmit enable pin is disabled or is the message discarded

What do you mean?
"MCU" = G15's MCU or G15 Controller's MCU

Do you mean the G15 and G15 Controller transmitting at the same time?

[spanner]

my MCU I mean the microcontroller I will be using to talk to the G15 (Teensy 3.1)

Yes I'm basically asking what happens if both are trying to transmit at the same time.

Another usefull bit if information would be how many instructions the G15 servo can handle per second (hz)

[yonghui]

Hi,
for a half duplex system, only one side can transfer and the other side will receive at a time.

This means that when your MCU is transmitting, G15 will receive the commands, it will process and it will give a response packet after it receive a correct packet or incorrect packet. it the packet is incomplete, it will discard after waiting for a "defined" time that u can check from the user manual.

when G15 is transmitting the response packet. your MCU cannot transmit anything and it will be blocked since it is half duplex with a buffer, u can refer the user manual for the half duplex implementation with buffer. u can see that when the Tx/Rx EN pin is either pull down or pull up or a transmit or a receive function at a specific time.

TX and RX is merged into a single communication line or wire. instead, the MCU need to control when it is TX /RX by setting the EN control line high or low.

the maximum baudrate for G15 is 500KBps which can be set by sending command. the default baudrate should be 19200Bps.

[A380]

G15 in receiving mode all the time except when it receives ID matched complete data packet, it only reaponses to your controller, it will switch back to receiving mode immediately once the data finish sent to your controller. In case your controller send out incomplete data packet or half duplex line crash (your controller and G15 send out data at the same time), your controller have to stop sending any data for at least 100ms. After 100ms, G15 will reset the data packet receiving, if your controller want to communocate with G15 again, your controller have to send the data packet from starting header 0xFF 0xFF ID and so on...