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

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== CAN Protocol Ver 1.3 ==
== CAN Protocol Ver 1.3 ==


* 아래 모든 메시지는 Long 포맷으로 전송합니다.
* All messages below are sent in long format.
 
* CAN ID
** 0x7FF : Servo -> Host
** 0x7FE : Host -> Servo


=== Write/Read Register ===
=== Write/Read Register ===


* Message: Host -> Servo
* Message: Host -> Servo
** ZUW1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
** ZUw1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
** ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
** ZUw2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
** ZUX1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
** ZUx1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
** ZUX2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
** ZUx2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
** ZUR1, < UID : 16 byte >, < ADDR : 2 byte >
** ZUr1, < UID : 16 byte >, < ADDR : 2 byte >
** ZUR2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >
** ZUr2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >


* Message : Servo -> Host
* Message : Servo -> Host
** ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
** 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 >
** ZUv2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >


=== Broadcast UID ===
=== Broadcast UID ===
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** ZUAL --> old: ZGUALL
** ZUAL --> old: ZGUALL
** ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
** ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
*** ID2 = 0 이면, All
*** ID1 = 0 이면, All
* Message: Servo -> Host
* Message: Servo -> Host
** ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD
** ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD
Line 28: Line 34:


* Message: Host -> Servo
* Message: Host -> Servo
** ZUgK, <magic = 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
** ZUgK, <Magic Code: 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
* Message: Servo -> Host
* Message: Servo -> Host
** K, <magic = 1 byte>, <UID part = 4 bytes>
** K, <Magic Code: 1 byte>, <UID part = 4 bytes>
* Magic Code
** bit 5:0 = magic key for search
** bit 7:6 = id type
*** 0 = ID ng ( ID1 = 0 or ID2 = 0 )
*** 1 = ID ok ( ID1 != 0 and ID2 != 0 )
*** 2/3 = any
 
=== History ===
 
==== 2025_06_19 ====
* Replace Message by bug: ZUV1, ZUV2
** ZUW1 -> ZUw1
** ZUX1 -> ZUx1
** ZUR1 -> ZUr1
** ZUV1 -> ZUv1
** ZUW2 -> ZUw2
** ZUX2 -> ZUx2
** ZUR2 -> ZUr2
** ZUV2 -> ZUv2


== MultiPacket for Long Message ==
== Long Message ==


[[CanServo/Protocol/MultiPacketsforLongMessage]]
[[CanServo/Protocol/LongMessage]]

Latest revision as of 00:14, 20 June 2025

CAN Protocol Ver 1.3

  • All messages below are sent in long format.
  • CAN ID
    • 0x7FF : Servo -> Host
    • 0x7FE : Host -> Servo

Write/Read Register

  • Message: Host -> Servo
    • ZUw1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
    • ZUw2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
    • ZUx1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
    • ZUx2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
    • ZUr1, < UID : 16 byte >, < ADDR : 2 byte >
    • ZUr2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >
  • 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 >

Broadcast UID

  • Message: Host -> Servo
    • ZUAL --> old: ZGUALL
    • ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
      • ID2 = 0 이면, All
      • ID1 = 0 이면, All
  • Message: Servo -> Host
    • ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD

UID search

  • Message: Host -> Servo
    • ZUgK, <Magic Code: 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
  • Message: Servo -> Host
    • K, <Magic Code: 1 byte>, <UID part = 4 bytes>
  • Magic Code
    • bit 5:0 = magic key for search
    • bit 7:6 = id type
      • 0 = ID ng ( ID1 = 0 or ID2 = 0 )
      • 1 = ID ok ( ID1 != 0 and ID2 != 0 )
      • 2/3 = any

History

2025_06_19

  • Replace Message by bug: ZUV1, ZUV2
    • ZUW1 -> ZUw1
    • ZUX1 -> ZUx1
    • ZUR1 -> ZUr1
    • ZUV1 -> ZUv1
    • ZUW2 -> ZUw2
    • ZUX2 -> ZUx2
    • ZUR2 -> ZUr2
    • ZUV2 -> ZUv2

Long Message

CanServo/Protocol/LongMessage

Retrieved from "http://support.hitecrcd.net:7700/index.php?title=CanServo/Protocol/V1.3&oldid=1467"