Difference between revisions of "CanServo/Protocol/V1.5"
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* CAN Protocol Ver 1.2 의 확장판입니다. | * CAN Protocol Ver 1.2 의 확장판입니다. | ||
== Write/Read Register(s) == | == Write/Read Register(s) == | ||
Revision as of 04:43, 20 February 2025
CAN Protocol Ver 1.5
- CAN Protocol Ver 1.2 의 확장판입니다.
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ N-1
- ZKW1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
- ZKW2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- ZKR1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >
- ZKR2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >
- ZKX1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
- ZKX2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- Message : Servo -> Host, i = 0 ~ N-1
- ZKV1, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
- ZKV2, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- N가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.