Difference between revisions of "CanServo/Protocol/V1.6"
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| Line 28: | Line 28: | ||
* Confirm Custom CAN : Host -> Servo | * Confirm Custom CAN : Host -> Servo | ||
** ZcCP, ID1(1), ID2(4) | ** ZcCP, ID1(1), ID2(4) | ||
** Servo: Send | ** Servo: Auto Send: "Return of Confirm Custom CAN" message, fReturn=1이면 0으로 만들고, 저장합니다. | ||
* Return of Confirm Custom CAN: Servo -> Host | * Return of Confirm Custom CAN: Servo -> Host | ||
** ZcRC, ID1(1), ID2(4), fReturn(1) | ** ZcRC, ID1(1), ID2(4), fReturn(1) | ||
** NOTE: CAN long format | ** NOTE: CAN long format | ||
Revision as of 05:30, 9 June 2025
Custom CAN / CAN-FD baudrate
Get Clock List
- Get Clock List : Host -> Servo
- ZcGL, ID1(1), ID2(4)
- Return Clock List : Servo -> Host
- ZcRL, ID1(1), ID2(4), N(1), ClockList(n)
Setup Custom Parameters
- Set Custom CAN parameters : Host -> Servo
- ZcSP, ID1(1), ID2(4), fSave(1), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
- Servo: Check CLK with Valid Clock List
- Servo: Auto Send: "Return Custom CAN parameters" message
- Set fEanble of Custom CAN parameters : Host -> Servo
- ZcSE, ID1(1), ID2(4), fSave(1), fEnable(1)
- Set fReturn of Custom CAN parameters : Host -> Servo
- ZcSR, ID1(1), ID2(4), fSave(1), 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)
Confirm Custom Parameters
- Confirm Custom CAN : Host -> Servo
- ZcCP, ID1(1), ID2(4)
- Servo: Auto Send: "Return of Confirm Custom CAN" message, fReturn=1이면 0으로 만들고, 저장합니다.
- Return of Confirm Custom CAN: Servo -> Host
- ZcRC, ID1(1), ID2(4), fReturn(1)
- NOTE: CAN long format