Difference between revisions of "CanServo/Protocol/V1.1"
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* This protocol needs FW Ver 1.12+ | * This protocol needs FW Ver 1.12+ | ||
* All messages below are sent in T-Message format. | |||
* CAN ID | * CAN ID | ||
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** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte> | ** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte> | ||
** This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0. | ** This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0. | ||
* Message: Host -> Servo | * Message: Host -> Servo | ||
| Line 23: | Line 24: | ||
** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte> | ** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte> | ||
** The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message. | ** The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message. | ||
* This message is delivered using the MultiPacket method below. | * This message is delivered using the MultiPacket method below. | ||
| Line 34: | Line 32: | ||
** ZGUu - Get UID | ** ZGUu - Get UID | ||
*** ID2 (4), ID1 (1) | *** ID2 (4), ID1 (1) | ||
* Servo -> Host | |||
** ZUID | |||
=== UID 3 === | |||
* DATE: 2026_03_05 | |||
* Message: Host -> Servo | |||
** ZIDG - Get ID-Mode by UID | |||
*** UID(16) | |||
* Servo -> Host | * Servo -> Host | ||
** ZUID | ** ZUID | ||
| Line 70: | Line 77: | ||
==== 2026_03_05 ==== | ==== 2026_03_05 ==== | ||
* add ZIDG | * add ZIDG | ||
==== 2025_06_19 ==== | ==== 2025_06_19 ==== | ||
| Line 84: | Line 91: | ||
** ZRID -> ZRid | ** ZRID -> ZRid | ||
== | == T-Message == | ||
[[CanServo/Protocol/ | [[CanServo/Protocol/T-Message]] | ||
Latest revision as of 08:27, 16 March 2026
Up
- Up page: CanServo/Protocol/0
CAN Protocol Ver 1.1
- This protocol needs FW Ver 1.12+
- All messages below are sent in T-Message format.
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
UID
- Message : Servo -> Host
- ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
- This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.
- Message: Host -> Servo
- ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
- ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
- ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
- The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.
- This message is delivered using the MultiPacket method below.
UID 2
- Message: Host -> Servo
- ZGUu - Get UID
- ID2 (4), ID1 (1)
- ZGUu - Get UID
- Servo -> Host
- ZUID
UID 3
- DATE: 2026_03_05
- Message: Host -> Servo
- ZIDG - Get ID-Mode by UID
- UID(16)
- ZIDG - Get ID-Mode by UID
- Servo -> Host
- ZUID
Write/Read Register's bits by ID or UID
- Message: Host -> Servo
- ZSuu - Set Register by UID
- UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZGuu - Get Register by UID
- UID (16), ADDR (1), bit 0.5, bits (0.5)
- ZXuu - Set/Get Register by UID
- ZSid - Set Register by ID
- ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZXid - Set/Get Register by ID
- ZGid - Get Register by ID
- ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
- ZSuu - Set Register by UID
- Mesasge: Servo -> Host
- ZRuu - return register by UID
- UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZRid - return register by ID
- ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZRuu - return register by UID
File Access
- ZGFL
- ZSDF
- ZFWU
- NOTE: ID2, ID1
Message
- ZMSG, id2: 4 byte, id1: 1 byte, level: 1 byte, msg
History
2026_03_05
- add ZIDG
2025_06_19
- Replace message by bug in ZRUU, ZRID
- ZSUU -> ZSuu
- ZXUU -> ZXuu
- ZGUU -> ZGuu
- ZRUU -> ZRuu
- ZSID -> ZSid
- ZXID -> ZXid
- ZGID -> ZGid
- ZRID -> ZRid