Difference between revisions of "CanServo/Protocol/V1.6"
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== Custom CAN / CAN-FD baudrate == | == Custom CAN / CAN-FD baudrate == | ||
* if CLK is 0, parameter not valid. | |||
* if fEnable is 1 on boot, servo try Custom Baudrate. | |||
* if fReturn is 1 on boot, servo wait "Confirm Custom CAN" message till 'WaitTime' seconds. | |||
=== Get Clock List === | === Get Clock List === | ||
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* Set Custom CAN parameters : Host -> Servo | * 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) | ** ZcSP, ID1(1), ID2(4), fSave(1), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(1, second)fEnable(1), fReturn(1) | ||
** Servo: Check CLK with Clock List | ** Servo: Check CLK with Clock List | ||
** Servo: Auto Send: "Return Custom CAN parameters" message | ** Servo: Auto Send: "Return Custom CAN parameters" message | ||
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** ZcGP, ID1(1), ID2(4) | ** ZcGP, ID1(1), ID2(4) | ||
* Return Custom CAN parameters : Servo -> Host | * Return Custom CAN parameters : Servo -> Host | ||
** ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1) | ** ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(1, second), fEnable(1), fReturn(1) | ||
=== Confirm Custom Parameters === | === Confirm Custom Parameters === | ||
Revision as of 09:42, 9 June 2025
Custom CAN / CAN-FD baudrate
- if CLK is 0, parameter not valid.
- if fEnable is 1 on boot, servo try Custom Baudrate.
- if fReturn is 1 on boot, servo wait "Confirm Custom CAN" message till 'WaitTime' seconds.
Get Clock List
- Get Clock List : Host -> Servo
- ZcGL, ID1(1), ID2(4)
- Return Clock List : Servo -> Host
- ZrRL, 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), WaitTime(1, second)fEnable(1), fReturn(1)
- Servo: Check CLK with 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
- ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(1, second), 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, Change fReturn 1 to 0
- Return of Confirm Custom CAN: Servo -> Host
- ZrCP, ID1(1), ID2(4), fReturn(1)