Difference between revisions of "CanServo/Protocol/0"
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** UID search | ** UID search | ||
* [[CanServo/Protocol/V1.4]] - V1.4 - sync | * [[CanServo/Protocol/V1.4]] - V1.4 - sync | ||
* [[CanServo/Protocol/V1.5]] - V1.5 - ZKWx, ZKRx, ZKXx, ZKVx | |||
** Write/Read N register(s) | |||
* [[CanServo/Protocol/V1.6]] - V1.6 - ZcXX | |||
** Custom CAN / CAN-FD | |||
== Message Types == | == Message Types == | ||
* Short | * Tail Byte 유무에 따라 Short/Long Message로 나눕니다. | ||
* | ** [[CanServo/Protocol/ShortMessage]] - Tail Byte = No - Single Packet Only | ||
** [[CanServo/Protocol/LongMessage]] | ** [[CanServo/Protocol/LongMessage]] - Tail Byte = Yes - Single/Multi Packet | ||
== | * 주의: Servo ID2 가 필요 없는 메시지만이 0x7FF, 0x7FE를 통과할 수 있습니다. | ||
{| class="wikitable" | |||
|- | |||
! CAN ID | |||
! [[CanServo/Protocol/ShortMessage | Short Message]] | |||
! [[CanServo/Protocol/LongMessage | Long Message]] | |||
|- | |||
! Host -> Servo | |||
| 0(Broadcast) or ID2 | |||
| 0x7FE, ID2+2 | |||
|- | |||
! Servo -> Host | |||
| ID2 or ID2+1 | |||
| 0x7FF, ID2+3 | |||
|} | |||
== Section / platform == | |||
{| class="wikitable" | {| class="wikitable" | ||
|- | |- | ||
! Section | ! Section | ||
! Short | ! Short | ||
| Line 40: | Line 58: | ||
|- | |- | ||
| 1.0 | | 1.0 | ||
| Yes | | Yes | ||
| No | | No | ||
| Line 49: | Line 66: | ||
|- | |- | ||
| 1.1 | | 1.1 | ||
| | | - | ||
| Yes | | Yes | ||
| | | | ||
| Line 57: | Line 73: | ||
|- | |- | ||
| 1.2 | | 1.2 | ||
| Yes | | Yes | ||
| No | | No | ||
| Line 66: | Line 81: | ||
|- | |- | ||
| 1.3 | | 1.3 | ||
| | | - | ||
| Yes | | Yes | ||
| | | | ||
| | | | ||
| Yes | | Yes | ||
| | |||
|- | |- | ||
| 1.4 | | 1.4 | ||
| Yes | |||
| Yes | |||
| | |||
| | | | ||
| Yes | | Yes | ||
| | |||
|- | |||
| 1.5 | |||
| - | |||
| Yes | | Yes | ||
| | | | ||
| | | | ||
| | | | ||
|- | |||
| ID2+X | |||
| | |||
| | |||
| | |||
| | |||
| | |||
| | |||
|} | |} | ||
* DATE: 2024_11_25, G491 R1CAN | * DATE: 2024_11_25, G491 R1CAN | ||
== History == | |||
* 2025_03 | |||
** V1.6 추가 | |||
* 2025_02 | |||
** CAN-FD 추가 | |||
** Short Mesasge 추가 | |||
** V1.5 추가 | |||
** ID2+X 추가 | |||
* 2024_11 | |||
** R1CAN 추가 | |||
Latest revision as of 07:50, 27 March 2025
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)
- Write/Read 1 or 2 register with 2 byte address in 1 packet
- 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)
- CanServo/Protocol/V1.6 - V1.6 - ZcXX
- Custom CAN / CAN-FD
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
- 주의: Servo ID2 가 필요 없는 메시지만이 0x7FF, 0x7FE를 통과할 수 있습니다.
| CAN ID | Short Message | Long Message |
|---|---|---|
| Host -> Servo | 0(Broadcast) or ID2 | 0x7FE, ID2+2 |
| Servo -> Host | ID2 or ID2+1 | 0x7FF, ID2+3 |
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+X |
- DATE: 2024_11_25, G491 R1CAN
History
- 2025_03
- V1.6 추가
- 2025_02
- CAN-FD 추가
- Short Mesasge 추가
- V1.5 추가
- ID2+X 추가
- 2024_11
- R1CAN 추가