Difference between revisions of "CanServo/Protocol/V1.2"
Jump to navigation
Jump to search
| (2 intermediate revisions by the same user not shown) | |||
| Line 47: | Line 47: | ||
|- | |- | ||
| 2 | | 2 | ||
| ADDR LO | | ADDR 0 LO | ||
| | | | ||
|- | |- | ||
| 3 | | 3 | ||
| bit 1:0 | | bit 1:0 = ADDR 0 HI | ||
|- | |- | ||
| 3 | | 3 | ||
| bit 7:2 | | bit 7:2 = ADDR 1 add | ||
| | | 64 -> +1~+64 | ||
|- | |- | ||
| 4 | | 4 | ||
| Line 100: | Line 99: | ||
| ADDR HI | | ADDR HI | ||
| | | | ||
|} | |||
{| class="wikitable" | |||
|- | |||
! POS | |||
! NAME | |||
! COMMENT | |||
|- | |||
| 0 | |||
| 'G' | |||
| Read 2 byte | |||
|- | |||
| 1 | |||
| TARGET SERVO ID | |||
| | |||
|- | |||
| 2 | |||
| ADDR 0 LO | |||
| | |||
|- | |||
| 3 | |||
| bit 1:0 = ADDR 0 HI | |||
|- | |||
| 3 | |||
| bit 7:2 = ADDR 1 add | |||
| 64 -> +1~+64 | |||
|} | |} | ||
| Line 136: | Line 161: | ||
| 5 | | 5 | ||
| DATA BYTE 1 (High) | | DATA BYTE 1 (High) | ||
| | |||
|} | |||
{| class="wikitable" | |||
|- | |||
! POS | |||
! NAME | |||
! COMMENT | |||
|- | |||
| 0 | |||
| 'Y' | |||
| Return 2 byte | |||
|- | |||
| 1 | |||
| SERVO ID | |||
| | |||
|- | |||
| 2 | |||
| ADDR LO | |||
| | |||
|- | |||
| 3 | |||
| bit 1:0 = ADDR 0 HI | |||
|- | |||
| 3 | |||
| bit 7:2 = ADDR 1 add | |||
| 64 -> +1~+64 | |||
|- | |||
| 4 | |||
| DATA 0 BYTE 0 (Low) | |||
| | |||
|- | |||
| 5 | |||
| DATA 0 BYTE 1 (High) | |||
| | |||
|- | |||
| 6 | |||
| DATA 1 BYTE 0 (Low) | |||
| | |||
|- | |||
| 7 | |||
| DATA 1 BYTE 1 (High) | |||
| | | | ||
|} | |} | ||
Latest revision as of 07:00, 9 September 2024
Write Command
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'p' | Write 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI | |
| 4 | DATA BYTE 0 (Low) | |
| 5 | DATA BYTE 1 (High) |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'P' | Write 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR 0 LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
| 4 | DATA 0 BYTE 0 (Low) | |
| 5 | DATA 0 BYTE 1 (High) | |
| 6 | DATA 1 BYTE 0 (Low) | |
| 7 | DATA 1 BYTE 1 (High) |
- NOTE ! NO RETURN PACKET
Read Command
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'g' | Read 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'G' | Read 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR 0 LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
Write and Read Command
- Use 'o' instead of 'p' on Write Command
Return Packet
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'y' | Return 2 byte |
| 1 | SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI | |
| 4 | DATA BYTE 0 (Low) | |
| 5 | DATA BYTE 1 (High) |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'Y' | Return 2 byte |
| 1 | SERVO ID | |
| 2 | ADDR LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
| 4 | DATA 0 BYTE 0 (Low) | |
| 5 | DATA 0 BYTE 1 (High) | |
| 6 | DATA 1 BYTE 0 (Low) | |
| 7 | DATA 1 BYTE 1 (High) |