CanServo/Protocol/V1.1

CAN Protocol Ver 1.1

• This protocol needs FW Ver 1.12+

• CAN ID
  • 0x7FF : Servo -> Host
  • 0x7FE : Host -> Servo

UID

• Message : Servo -> Host
  • ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
  • 이 메시지는 서보 설정 ID1, ID2 중에 하나라도 0 이면 서보가 주기적으로 발신합니다.

• Message: Host -> Servo
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
  • UID 가 일치하는 서보는, 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다.

• This message is delivered using the MultiPacket method below.

Write/Read Register's bits by ID or UID

• Message: Host -> Servo
  • ZIDS - Set IDs by UID
    • UID (16), ID2 (4), ID1 (1), MODE (1)
  • ZGUu - Get UID
    • ID2 (4), ID1 (1)
  • ZSUU,ZXUU - Set Register by UID, ( ZXUU -> Set,Get )
    • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
  • ZGUU - Get Register by UID
    • UID (16), ADDR (1), bit 0.5, bits (0.5)
  • ZSID,ZXID - Set Register by ID ( ZXID -> Set,Get )
    • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
  • ZGID - Get Register by ID
    • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
• Mesasge: Servo -> Host
  • ZUID - broadcast UID
    • UID (16), ID2 (4), ID1 (1), MODE (1)
  • ZRUU - return register by UID
    • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
  • ZRID - return register by ID
    • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)

File Access

• ZGFL
• ZSDF
• ZFWU

Message

• ZMSG

MultiPacket for Long Message

CanServo/Protocol/MultiPacketsforLongMessage