Difference between revisions of "CanServo/Protocol/V1.6"
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| Line 3: | Line 3: | ||
* Get Clock List : Host -> Servo | * Get Clock List : Host -> Servo | ||
** ZcGL, ID1( | ** ZcGL, ID1(1), ID2(4) | ||
* Return Clock List : Servo -> Host | * Return Clock List : Servo -> Host | ||
** ZcRL, ID1( | ** ZcRL, ID1(1), ID2(4), N(1), ClockList(n) | ||
* Set Custom CAN parameters : Host -> Servo | * Set Custom CAN parameters : Host -> Servo | ||
** ZcSP, ID1( | ** ZcSP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1) | ||
* Set fEanble of Custom CAN parameters : Host -> Servo | * Set fEanble of Custom CAN parameters : Host -> Servo | ||
** ZcSE, ID1( | ** ZcSE, ID1(1), ID2(4), fEnable(1) | ||
* Set fReturn of Custom CAN parameters : Host -> Servo | * Set fReturn of Custom CAN parameters : Host -> Servo | ||
** ZcSR, ID1( | ** ZcSR, ID1(1), ID2(4), fReturn(1) | ||
* Get Custom CAN parameters : Host -> Servo | * Get Custom CAN parameters : Host -> Servo | ||
** ZcGP, ID1( | ** ZcGP, ID1(1), ID2(4) | ||
* Return Custom CAN parameters : Servo -> Host | * Return Custom CAN parameters : Servo -> Host | ||
** ZcRP, ID1( | ** ZcRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1) | ||
* Check Custom CAN : Host -> Servo : 서보는 Return 메시지를 보냅니다. fReturn=1이면 0으로 만들고 저장합니다. | * Check Custom CAN : Host -> Servo : 서보는 Return 메시지를 보냅니다. fReturn=1이면 0으로 만들고 저장합니다. | ||
** ZcCP, ID1( | ** ZcCP, ID1(1), ID2(4) | ||
* Return of Check Custom CAN : Servo -> Host | * Return of Check Custom CAN : Servo -> Host | ||
** ZcRC, ID1( | ** ZcRC, ID1(1), ID2(4), fReturn(1) | ||
Revision as of 07:22, 5 June 2025
Custom CAN / CAN-FD
- Get Clock List : Host -> Servo
- ZcGL, ID1(1), ID2(4)
- Return Clock List : Servo -> Host
- ZcRL, ID1(1), ID2(4), N(1), ClockList(n)
- Set Custom CAN parameters : Host -> Servo
- ZcSP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
- Set fEanble of Custom CAN parameters : Host -> Servo
- ZcSE, ID1(1), ID2(4), fEnable(1)
- Set fReturn of Custom CAN parameters : Host -> Servo
- ZcSR, ID1(1), ID2(4), fReturn(1)
- Get Custom CAN parameters : Host -> Servo
- ZcGP, ID1(1), ID2(4)
- Return Custom CAN parameters : Servo -> Host
- ZcRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
- Check Custom CAN : Host -> Servo : 서보는 Return 메시지를 보냅니다. fReturn=1이면 0으로 만들고 저장합니다.
- ZcCP, ID1(1), ID2(4)
- Return of Check Custom CAN : Servo -> Host
- ZcRC, ID1(1), ID2(4), fReturn(1)