Difference between revisions of "CanServo/Protocol/V1.3"

Latest revision as of 06:06, 22 November 2024

Message : Servo -> Host
- ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >

Message: Host -> Servo
- ZUAL --> old: ZGUALL
- ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
Message: Servo -> Host
- ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD

Message: Host -> Servo
- ZUgK, <magic = 1 byte>, <UID part = 0, 2, 4, 6, 8, 10, 12, 14 bytes> --> OLD: ZGUa
Message: Servo -> Host
- K, <magic = 1 byte>, <UID part = 2 bytes>

@@ Line 1: / Line 1: @@
-== CAN Protocol Ver 1.2 ==
+== CAN Protocol Ver 1.3 ==
+* 아래 모든 메시지는 Long 포맷으로 전송합니다.
 === Write/Read Register ===
@@ Line 18: / Line 20: @@
 * Message: Host -> Servo
-** ZGUA
+** ZUAL --> old: ZGUALL
-** ZGUD, < ID2 : 4 byte >, < ID1 : 1 byte >
+** ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
 * Message: Servo -> Host
-** ZVUD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte >
+** ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD
+=== UID search ===
+* Message: Host -> Servo
+** ZUgK, <magic = 1 byte>, <UID part = 0, 2, 4, 6, 8, 10, 12, 14 bytes> --> OLD: ZGUa
+* Message: Servo -> Host
+** K, <magic = 1 byte>, <UID part = 2 bytes>
+== MultiPacket for Long Message ==
+[[CanServo/Protocol/MultiPacketsforLongMessage]]