Difference between revisions of "CanServo/Protocol/0"
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== Protocol Sections == | |||
* [[SERVO/PROTOCOL/CAN/V1.0/ENG]] - V1.0 - w/W, r/R, x/X, v/V | * [[SERVO/PROTOCOL/CAN/V1.0/ENG]] - V1.0 - w/W, r/R, x/X, v/V | ||
** Write/Read 1 or 2 register | ** Write/Read 1 or 2 register | ||
| Line 5: | Line 5: | ||
** ZRU1, ZRU2 | ** ZRU1, ZRU2 | ||
* [[CanServo/Protocol/V1.1]] - V1.1 - ZUID, ZIDS, ZGUu, ZGUU, ZRxx, ZSxx, ZXxx, FILE(ZGFL, ZSDF, ZFWU), ZMSG | * [[CanServo/Protocol/V1.1]] - V1.1 - ZUID, ZIDS, ZGUu, ZGUU, ZRxx, ZSxx, ZXxx, FILE(ZGFL, ZSDF, ZFWU), ZMSG | ||
** | ** Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS | ||
** Write/Read | ** Write/Read register's bits by ID or UID | ||
** FILE Access | ** FILE Access | ||
** Message: ZMSG | ** Message: ZMSG | ||
* [[CanServo/Protocol/V1.2]] - V1.2 - p/P, g/G, y/Y | * [[CanServo/Protocol/V1.2]] - V1.2 - p/P, g/G, y/Y | ||
** Write/Read 1 register with 2 byte address | ** Write/Read 1 or 2 register with 2 byte address in 1 packet | ||
*** address = max 1024 range (0~1023) | |||
* [[CanServo/Protocol/V1.3]] - V1.3 - ZUxx(Except ZUID), K | * [[CanServo/Protocol/V1.3]] - V1.3 - ZUxx(Except ZUID), K | ||
** Write/Read 1 or 2 | ** Write/Read 1 or 2 register via UID | ||
** Broadcast UID | ** Broadcast UID | ||
** UID search | ** UID search | ||
* [[CanServo/Protocol/V1.4]] - V1.4 - | * [[CanServo/Protocol/V1.4]] - V1.4 - sync | ||
== Message Types == | |||
* Short - single packet - CAN ID = Servo's ID2 or 0 | |||
* Long - multi or single packet - CAN ID = 0x7FF, 0x7FE | |||
** [[CanServo/Protocol/LongMessage]] | |||
== Section / platform == | |||
{| class="wikitable" | {| class="wikitable" | ||
|- | |- | ||
! | ! Section | ||
! Short | |||
! Long | |||
! ST | ! ST | ||
! AT | ! AT | ||
| Line 26: | Line 37: | ||
|- | |- | ||
| 1.0 | | 1.0 | ||
| Yes | |||
| No | |||
| Yes | | Yes | ||
| Yes | | Yes | ||
| Line 32: | Line 45: | ||
|- | |- | ||
| 1.1 | | 1.1 | ||
| No | |||
| Yes | |||
| | | | ||
| Yes | | Yes | ||
| Line 37: | Line 52: | ||
|- | |- | ||
| 1.2 | | 1.2 | ||
| Yes | |||
| No | |||
| | | | ||
| | | | ||
| Line 43: | Line 60: | ||
|- | |- | ||
| 1.3 | | 1.3 | ||
| No | |||
| Yes | |||
| | | | ||
| | | | ||
| Line 48: | Line 67: | ||
|- | |- | ||
| 1.4 | | 1.4 | ||
| Yes | |||
| Yes | |||
| | | | ||
| | | | ||
| Yes | | Yes | ||
|} | |} | ||
* DATE: 2024_11_25, G491 R1CAN | |||
Latest revision as of 02:47, 21 January 2025
Protocol Sections
- SERVO/PROTOCOL/CAN/V1.0/ENG - V1.0 - w/W, r/R, x/X, v/V
- Write/Read 1 or 2 register
- 금지 키워드
- ZRU1, ZRU2
- CanServo/Protocol/V1.1 - V1.1 - ZUID, ZIDS, ZGUu, ZGUU, ZRxx, ZSxx, ZXxx, FILE(ZGFL, ZSDF, ZFWU), ZMSG
- Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
- Write/Read register's bits by ID or UID
- FILE Access
- Message: ZMSG
- CanServo/Protocol/V1.2 - V1.2 - p/P, g/G, y/Y
- Write/Read 1 or 2 register with 2 byte address in 1 packet
- address = max 1024 range (0~1023)
- Write/Read 1 or 2 register with 2 byte address in 1 packet
- CanServo/Protocol/V1.3 - V1.3 - ZUxx(Except ZUID), K
- Write/Read 1 or 2 register via UID
- Broadcast UID
- UID search
- CanServo/Protocol/V1.4 - V1.4 - sync
Message Types
- Short - single packet - CAN ID = Servo's ID2 or 0
- Long - multi or single packet - CAN ID = 0x7FF, 0x7FE
Section / platform
| Section | Short | Long | ST | AT | G491 | RR |
|---|---|---|---|---|---|---|
| 1.0 | Yes | No | Yes | Yes | Yes | Yes |
| 1.1 | No | Yes | Yes | Yes | ||
| 1.2 | Yes | No | Yes | |||
| 1.3 | No | Yes | Yes | |||
| 1.4 | Yes | Yes | Yes |
- DATE: 2024_11_25, G491 R1CAN