CanServo/Protocol/0

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, ZG??, ZR??, ZS??, ZX??, 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, o/O, y/Y
  • Write/Read 1 or 2 register with 2 byte address in 1 packet
    • address = max 1024 range (0~1023)
• CanServo/Protocol/V1.3 - V1.3 - ZU??(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 - ZKW?, ZKR?, ZKX?, ZKV?
  • Write/Read N register(s)
• CanServo/Protocol/V1.6 - V1.6 - Zc??, Zr??
  • 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+4
Servo -> Host	ID2 or ID2+1	0x7FF, ID2+5

• NOTE: ID2 must aligned by 8.

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		2.3(3)	Yes
1.4	Yes	Yes		2.3(3)	Yes
1.5	-	Yes
ID2+4/5

• DATE: 2024_11_25, G491 R1CAN

History

• 2025_06_19
  • 다음 6개의 메시지에 버그가 있었음.
  • ZRUU, ZRID, ZUV1, ZUV2 메시지는 과거 수정되지 않은 FW는 반응하지 않도록, 명령을 변경합니다.
  • Replace command message (by Bug)
    • ZRUU: ZXUU, ZGUU -> ZXuu, ZGuu
    • ZRID: ZGID -> ZGid
    • ZUV1: ZUX1, ZUR1 -> ZUx1, ZUr1
    • ZUV2: ZUX2, ZUR2 -> ZUx2, ZUr2
  • No replace:
    • ZMSG
    • ZGFL
    • 이 2개의 메시지는 사용상 조심하면 문제없음.

• 2025_03
  • V1.6 추가

• 2025_02
  • CAN-FD 추가
  • Short Mesasge 추가
  • V1.5 추가
  • ID2+X 추가

• 2024_11
  • R1CAN 추가