CanServo/Protocol/0

Protocol Sections

• SERVO/PROTOCOL/CAN/V1.0/ENG - V1.0 - w/W, r/R, x/X, v/V
  • Write/Read 1 or 2 register
• 금지 키워드
  • ZRU1, ZRU2
• CanServo/Protocol/V1.1 - V1.1 - ZUID, ZIDS, ZGUu, ZGUU, ZRxx, ZSxx, ZXxx, FILE(ZGFL, ZSDF, ZFWU), ZMSG
  • Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
  • Write/Read register's bits by ID or UID
  • FILE Access
  • Message: ZMSG
• CanServo/Protocol/V1.2 - V1.2 - p/P, g/G, y/Y
  • Write/Read 1 or 2 register with 2 byte address in 1 packet
    • address = max 1024 range (0~1023)
• CanServo/Protocol/V1.3 - V1.3 - ZUxx(Except ZUID), K
  • Write/Read 1 or 2 register via UID
  • Broadcast UID
  • UID search
• CanServo/Protocol/V1.4 - V1.4 - sync
• CanServo/Protocol/V1.5 - V1.5 - ZKWx, ZKRx, ZKXx, ZKVx
  • Write/Read N register(s)

Message Types

• Tail Byte 유무에 따라 Short/Long Message로 나눕니다.
  • CanServo/Protocol/ShortMessage - Tail Byte = No - Single Packet Only
  • CanServo/Protocol/LongMessage - Tail Byte = Yes - Single/Multi Packet

• CAN ID 에 따라
  • CAN ID = Servo ID2
    • Short Message
  • CAN ID = 0x7FF, 0x7FE or Servo ID2+1
  • Long Message

• 주의: Servo ID2 가 필요 없는 메시지만이 0x7FF, 0x7FE를 통과할 수 있습니다.

CAN ID

• CAN ID = 0x7FE = Host -> Servo
• CAN ID = 0x7FF = Servo -> Host
• CAN ID = Servo ID2 + 1 = CAN-FD 되면서 추가

Section / platform

Section	Short	Long	ST	AT	G491	RR
1.0	Yes	No	Yes	Yes	Yes	Yes
1.1	-	Yes		Yes	Yes
1.2	Yes	No				Yes
1.3	-	Yes			Yes
1.4	Yes	Yes			Yes
1.5	-	Yes
ID2+1

• DATE: 2024_11_25, G491 R1CAN

History

• 2025_02
  • CAN-FD 추가
  • FD Short/Long Mesasge 추가
  • V1.5 추가
  • ID2+1 추가

• 2024_11
  • R1CAN 추가