Difference between revisions of "CanServo/Protocol/V1.5"

Latest revision as of 05:08, 20 February 2025

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 >

@@ Line 1: / Line 1: @@
 == CAN Protocol Ver 1.5 ==
-* All messages below are sent in long format.
+* CAN Protocol Ver 1.2 의 확장판입니다.
-* CAN ID
+* Long Message 혹은 CAN-FD 의 short message 로 전달 가능합니다.
-** 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 >
+** ZKW1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
-** ZKR, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, i = 0 ~ N-1
+** ZKW2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
-** ZKX, <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
-** ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
+** 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.