Difference between revisions of "CanServo/Protocol/0"

Revision as of 05:12, 20 February 2025

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)

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

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

@@ Line 27: / Line 27: @@
 * CAN ID 에 따라
-** CAN ID = Servo ID2
+** CAN ID = 0 or Servo ID2 -> Short Message
-*** Short Message
+*** 0 or ID2+0 = Host -> Servo
-** CAN ID = 0x7FF, 0x7FE or Servo ID2+1/+2
+*** ID2+1 = Servo -> Host
-*** 0x7FE, ID2+1 = Host -> Servo
+** CAN ID = 0x7FF, 0x7FE or Servo ID2+2/+3 -> Long Message
-*** 0x7FF, ID2+2 = Servo -> Host
+*** 0x7FE, ID2+2 = Host -> Servo
+*** 0x7FF, ID2+3 = Servo -> Host
 ** Long Message