Difference between revisions of "CanServo/Protocol/V1.2"
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| (4 intermediate revisions by the same user not shown) | |||
| Line 40: | Line 40: | ||
| 0 | | 0 | ||
| 'P' | | 'P' | ||
| Write | | Write 2x2 byte | ||
|- | |- | ||
| 1 | | 1 | ||
| Line 51: | Line 51: | ||
|- | |- | ||
| 3 | | 3 | ||
| bit 1:0 | | bit 1:0 = ADDR 0 HI | ||
|- | |- | ||
| 3 | | 3 | ||
| bit 7:2 | | bit 7:2 = ADDR 1 add | ||
| 64 -> +1~+64 | |||
|- | |- | ||
| 4 | | 4 | ||
| Line 110: | Line 109: | ||
| 0 | | 0 | ||
| 'G' | | 'G' | ||
| Read | | Read 2x2 byte | ||
|- | |- | ||
| 1 | | 1 | ||
| Line 121: | Line 120: | ||
|- | |- | ||
| 3 | | 3 | ||
| bit 1:0 | | bit 1:0 = ADDR 0 HI | ||
|- | |- | ||
| 3 | | 3 | ||
| bit 7:2 | | bit 7:2 = ADDR 1 add | ||
| 64 -> +1~+64 | |||
|} | |} | ||
| Line 133: | Line 131: | ||
* Use 'o' instead of 'p' on Write Command | * Use 'o' instead of 'p' on Write Command | ||
== Return | == Return Message == | ||
{| class="wikitable" | {| class="wikitable" | ||
| Line 163: | Line 161: | ||
| 5 | | 5 | ||
| DATA BYTE 1 (High) | | DATA BYTE 1 (High) | ||
| | |||
|} | |||
{| class="wikitable" | |||
|- | |||
! POS | |||
! NAME | |||
! COMMENT | |||
|- | |||
| 0 | |||
| 'Y' | |||
| Return 2x2 byte | |||
|- | |||
| 1 | |||
| SERVO ID | |||
| | |||
|- | |||
| 2 | |||
| ADDR LO | |||
| | |||
|- | |||
| 3 | |||
| bit 1:0 = ADDR 0 HI | |||
|- | |||
| 3 | |||
| bit 7:2 = ADDR 1 add | |||
| 64 -> +1~+64 | |||
|- | |||
| 4 | |||
| DATA 0 BYTE 0 (Low) | |||
| | |||
|- | |||
| 5 | |||
| DATA 0 BYTE 1 (High) | |||
| | |||
|- | |||
| 6 | |||
| DATA 1 BYTE 0 (Low) | |||
| | |||
|- | |||
| 7 | |||
| DATA 1 BYTE 1 (High) | |||
| | | | ||
|} | |} | ||
Latest revision as of 08:10, 19 May 2025
Write Command
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'p' | Write 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI | |
| 4 | DATA BYTE 0 (Low) | |
| 5 | DATA BYTE 1 (High) |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'P' | Write 2x2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR 0 LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
| 4 | DATA 0 BYTE 0 (Low) | |
| 5 | DATA 0 BYTE 1 (High) | |
| 6 | DATA 1 BYTE 0 (Low) | |
| 7 | DATA 1 BYTE 1 (High) |
- NOTE ! NO RETURN PACKET
Read Command
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'g' | Read 2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'G' | Read 2x2 byte |
| 1 | TARGET SERVO ID | |
| 2 | ADDR 0 LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
Write and Read Command
- Use 'o' instead of 'p' on Write Command
Return Message
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'y' | Return 2 byte |
| 1 | SERVO ID | |
| 2 | ADDR LO | |
| 3 | ADDR HI | |
| 4 | DATA BYTE 0 (Low) | |
| 5 | DATA BYTE 1 (High) |
| POS | NAME | COMMENT |
|---|---|---|
| 0 | 'Y' | Return 2x2 byte |
| 1 | SERVO ID | |
| 2 | ADDR LO | |
| 3 | bit 1:0 = ADDR 0 HI | |
| 3 | bit 7:2 = ADDR 1 add | 64 -> +1~+64 |
| 4 | DATA 0 BYTE 0 (Low) | |
| 5 | DATA 0 BYTE 1 (High) | |
| 6 | DATA 1 BYTE 0 (Low) | |
| 7 | DATA 1 BYTE 1 (High) |