CanServo/Protocol/V2.1

2026-08-11T06:33:16Z

Choiyh: /* History */

== Up ==

* Up page: [[CanServo/Protocol/0]]

== CAN Protocol Ver 2.1 ==

* 이 프로토콜은 V1.1 의 Write/Read Register's bit(s) by ID or UID 기능을 대체합니다.

* All messages below are sent in T-Message format.

=== Write/Read N Register's bit(s) by ID or UID ===

* Message: Host -> Servo
** ZbWu - Write N Register's bit(s) by UID
*** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
** ZbRu - Read N Register's bit(s) by UID
*** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
** ZbXu - Write/Read N Register's bit(s) by UID
** ZbWi - Write N Register's bit(s) by ID
*** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
** ZbRi - Read N Register's bit(s) by ID
*** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
** ZbXi - Write/Read N Register's bit(s) by ID
* Mesasge: Servo -> Host
** ZbVu - return n register's bit(s) by UID
*** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
** ZbVi - return n register's bit(s) by ID
*** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...

* N1 = Count and Mode
** [[CanServo/Protocol/N1]]

=== History ===

==== 2026_08_05 ====

* R2CAN 적용됨.

==== 2026_04_09 ====

* N1적용, R1CAN 적용

==== 2026_04_03 ====

* add V2.1

== T-Message ==

[[CanServo/Protocol/T-Message]]

2026-07-20T07:12:22Z

Choiyh: /* Operating range */

== HLS12 ==

* The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3.
* For all other details, please refer to the specifications for firmware version 2.3.

* FW Ver 2.50(0)

== Operating range ==

* By configuring TARGET MIN/MID/MAX settings, it is possible to set the POSITION_NEW value corresponding to the physical location.
** TARGET MIN = Reg 179 (0xB3) = Inner Location = default -60 deg = 8192 - 60 x 16384 / 360 = 5462
** TARGET MID = Reg 195 (0xC3) = Center Location = default 0 deg = 8192
** TARGET MAX = Reg 177 (0xB1) = Outer Location = default +60 deg = 8192 + 60 x 16384 / 360 = 10922

== Coordinate system ==

{| class="wikitable"
|-
| Name
| Address
| Description
| R/W
| Unit
| Range
|-
| POSITION
| 12 (0x0C)
| Current Location
| R
| 16384 = 360 deg
| TARGET MIN/MID/MAX
|-
| POSITION_NEW
| 30 (0x1E)
| Target Location
| R/W
| 16384 = 360 deg
| TARGET MIN/MID/MAX
|-
| REAL POSITION
| 13 (0x0d)
| POSITION in linear distance
| R
| 1 = 0.01 mm
| inner = 0 mm
|-
| REAL POSITION_NEW
| 37 (0x25)
| POSITION_NEW in linear distance
| R
| 1 = 0.01 mm
| inner = 0 mm
|-
| VIRTUAL REAL POSITION_NEW
| 35 (0x23)
| POSITION_NEW with the Speed setting applied
| R
| 1 = 0.01 mm
| inner = 0 mm
|}

== Power Rate ==

* Adjusts the output level at a specified ratio without changing the power (wattage) setting.
* Reg 41 (0x29)
** 4095 = 100%
* Activating
** Reg 65 (0x41) activated and bit 13 = 1
** Reg 65 (0x41) activate: Reg 160 (0xA0) bit 15 = 1

* DroneCAN: Param Service
** "Power Rate (4095=100%)" = Reg 41
** "SETUP_EX/ENABLE POWER RATE" = Reg 65 bit 13
** "EABLE_SETUP_EX_Regs" = Reg 160 bit 15
*** Note: If it is already active, do not deactivate it.

== Changed Unit ==

* option/Velocity Max
** 1 = 0.01 mm / sec
* option/deadband
** 1 = 0.01 mm

== Smoothness of deceleration ==

* Adjust the smoothness of deceleration using the Smart Sense setting value.
* Values of 0, 1, and 4095 result in no deceleration smoothing.
* The range is from 4095 down to 2; values closer to 2 provide smoother deceleration.
** Note: If the value is sufficiently small, the acceleration may also decrease.
** Note: If the value is very low, the time required to reach the target may become significantly longer.
* Recommended range: 500 – 3000

== Calibration Data ==

* The physical operating limits are stored in POSITION MIN/MID/MAX.
* DO NOT MODIFY THESE VALUES.

== Etc ==

* Origin setting: Not supported.
* Selectable CAN sample points: 50% and 87.5%
* HW_DEF_1 (Reg 165, 0xA5) = length (mm) = 30, 50, 100
* HW_DEF_2 (Reg 167, 0xA7) = gear ratio (1:x) = 50, 100, 210, 380