Difference between revisions of "CanServo/Protocol/V1.7"
Jump to navigation
Jump to search
| Line 25: | Line 25: | ||
** Host -> Servo | ** Host -> Servo | ||
*** ZPST, ID2 (4), ID1 (1), external position sensor value ( 2 byte, signed 16 bits integer, 8192=center, resolution 16384 = 360 deg ) | *** ZPST, ID2 (4), ID1 (1), external position sensor value ( 2 byte, signed 16 bits integer, 8192=center, resolution 16384 = 360 deg ) | ||
**** -32768 | **** value range: -32768 ~ +32767 | ||
** Host -> Servo | ** Host -> Servo | ||
*** ZPGS, ID2 (4), ID1 (1), start index ( 2 byte ), N ( 2 byte ) | *** ZPGS, ID2 (4), ID1 (1), start index ( 2 byte ), N ( 2 byte ) | ||
Revision as of 04:06, 25 September 2025
Pot Calibration
- Pot Cali
- 서보 출력 축에 정밀한 위치 센서를 장착하여 서보 위치 센서의 값을 Calibration 하는 절차입니다.
- Process
- Cali Unlock:
- Write Reg 0x72: 40092, 40017, 40069
- Cali Start
- Write 0x70, 3848
- Cali Set Position
- ZPST message
- Cali End
- Write 0x70, 3849
- wait 1 sec
- Cali Unlock:
- Erase Cali Table
- Unlock
- Erase
- Write 0x70, 3843
- Wait 100 msec
- Reset
- Message
- Host -> Servo
- ZPST, ID2 (4), ID1 (1), external position sensor value ( 2 byte, signed 16 bits integer, 8192=center, resolution 16384 = 360 deg )
- value range: -32768 ~ +32767
- ZPST, ID2 (4), ID1 (1), external position sensor value ( 2 byte, signed 16 bits integer, 8192=center, resolution 16384 = 360 deg )
- Host -> Servo
- ZPGS, ID2 (4), ID1 (1), start index ( 2 byte ), N ( 2 byte )
- 서보는 ZPVS 메시지를 보냅니다.
- ZPGS, ID2 (4), ID1 (1), start index ( 2 byte ), N ( 2 byte )
- 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.
- 서보는 최대 N개의 데이터를 보냅니다.
- ZPVS, ID2 (4), ID1 (1), start index ( 2 byte ), N ( 2 byte ), Pi ( setted position ), Vi ( position sensor value ), ...
- Host -> Servo