Difference between revisions of "CanServo/Protocol/V1.5"
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* Message : Servo -> Host, i = 0 ~ N-1 | * Message : Servo -> Host, i = 0 ~ N-1 | ||
** ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ||
== Long Message == | |||
[[CanServo/Protocol/LongMessage]] | |||
Revision as of 06:35, 18 February 2025
CAN Protocol Ver 1.5
- All messages below are sent in long format.
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ N-1
- ZKW, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- ZKR, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, i = 0 ~ N-1
- ZKX, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- Message : Servo -> Host, i = 0 ~ N-1
- ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >