Difference between revisions of "CanServo/Protocol/V1.7"

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Line 8: Line 8:
** Cali End
** Cali End


* Protocol
* Message
** Host -> Servo
** Host -> Servo
*** ZPST, ID2 (4), ID1 (1), < set position : -32768 ~ +32767, resolution 16384 = 360 deg >
*** ZPST, ID2 (4), ID1 (1), < set position : -32768 ~ +32767, resolution 16384 = 360 deg >

Revision as of 01:09, 25 September 2025

Pot Calibration

  • Process
    • Cali Unlock
    • Cali Clear Data: Write 0x70, 3843
    • Cali Start: Write 0x70, 3840
    • Cali Set Position: ZPST message
    • Cali End
  • Message
    • Host -> Servo
      • ZPST, ID2 (4), ID1 (1), < set position : -32768 ~ +32767, resolution 16384 = 360 deg >
    • Host -> Servo
      • ZPGS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte>
        • 서보는 ZPVS 메시지를 보냅니다.
    • Servo -> Host
      • ZPVS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte>, <Pi : setted position>, <Vi : position sensor value>, ...
        • 서보는 최대 N개의 데이터를 보냅니다.
          • 주의: 메시지 전송 버퍼의 한계 등을 확인하여 개수를 제한해야 합니다.
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