Difference between revisions of "CanServo/Protocol/V1.3"

Latest revision as of 10:09, 4 December 2024

Message : Servo -> Host
- ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >

Message: Host -> Servo
- ZUAL --> old: ZGUALL
- ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
  - ID2 = 0 이면, All
  - ID1 = 0 이면, All
Message: Servo -> Host
- ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD

Message: Host -> Servo
- ZUgK, <Magic Code: 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
Message: Servo -> Host
- K, <Magic Code: 1 byte>, <UID part = 4 bytes>
Magic Code
- bit 5:0 = magic key for search
- bit 7:6 = id type
  - 0 = ID ng ( ID1 = 0 or ID2 = 0 )
  - 1 = ID ok ( ID1 != 0 and ID2 != 0 )
  - 2/3 = any

@@ Line 1: / Line 1: @@
-== CAN Protocol Ver 1.2 ==
+== CAN Protocol Ver 1.3 ==
+* All messages below are sent in long format.
+* CAN ID
+** 0x7FF : Servo -> Host
+** 0x7FE : Host -> Servo
+=== Write/Read Register ===
 * Message: Host -> Servo
@@ Line 12: / Line 20: @@
 ** ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
 ** ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
+=== Broadcast UID ===
+* Message: Host -> Servo
+** ZUAL --> old: ZGUALL
+** ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
+*** ID2 = 0 이면, All
+*** ID1 = 0 이면, All
+* Message: Servo -> Host
+** ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD
+=== UID search ===
+* Message: Host -> Servo
+** ZUgK, <Magic Code: 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
+* Message: Servo -> Host
+** K, <Magic Code: 1 byte>, <UID part = 4 bytes>
+* Magic Code
+** bit 5:0 = magic key for search
+** bit 7:6 = id type
+*** 0 = ID ng ( ID1 = 0 or ID2 = 0 )
+*** 1 = ID ok ( ID1 != 0 and ID2 != 0 )
+*** 2/3 = any
+== Long Message ==
+[[CanServo/Protocol/LongMessage]]