Difference between revisions of "CanServo/Protocol/0"

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** Broadcast UID
** Broadcast UID
** UID search
** UID search
* [[CanServo/Protocol/V1.4]] - V1.4 - SYNC - sync
* [[CanServo/Protocol/V1.4]] - V1.4 - sync


== Short/Long ==
== Message Types ==


* Short - CAN 2.0 - 8 byte data format
* Short - single packet - CAN ID = Servo's ID2 or 0
* Long - CAN 2.0 - long message in multi(include single) packet
* Long - multi or single packet - CAN ID = 0x7FF, 0x7FE
** [[CanServo/Protocol/LongMessage]]
** [[CanServo/Protocol/LongMessage]]
** added CRC16, if message 8 bytes or more
** added tail (check) byte per packet


== Protocol / platform ==
== Section / platform ==


{| class="wikitable"
{| class="wikitable"
|-
|-
! Protocol
! Section
! Short
! Short
! Long
! Long

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)
  • 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

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
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