Difference between revisions of "CanServo/Protocol/0"

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* 금지 키워드
* 금지 키워드
** 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, ZG??, ZR??, ZS??, ZX??, FILE(ZGFL, ZSDF, ZFWU), ZMSG
** Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
** Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
** Write/Read register's bits by ID or UID
** 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, o/O, y/Y
** Write/Read 1 or 2 register with 2 byte address in 1 packet
** Write/Read 1 or 2 register with 2 byte address in 1 packet
*** address = max 1024 range (0~1023)
*** address = max 1024 range (0~1023)
* [[CanServo/Protocol/V1.3]] - V1.3 - ZUxx(Except ZUID), K
* [[CanServo/Protocol/V1.3]] - V1.3 - ZU??(Except ZUID), K
** Write/Read 1 or 2 register via UID
** Write/Read 1 or 2 register via UID
** Broadcast UID
** Broadcast UID
** UID search
** UID search
* [[CanServo/Protocol/V1.4]] - V1.4 - sync
* [[CanServo/Protocol/V1.4]] - V1.4 - sync
* [[CanServo/Protocol/V1.5]] - V1.5 - ZKW?, ZKR?, ZKX?, ZKV?
** Write/Read N register(s)
* [[CanServo/Protocol/V1.6]] - V1.6 - Zc??, Zr??
** Custom CAN / CAN-FD
* [[CanServo/Protocol/V1.7]] - V1.7 - Pot Calibration - ZP??


== Message Types ==
== Message Types ==


* Short - CAN 2.0 - 8 byte data format
* Tail Byte 유무에 따라 Short/Long Message로 나눕니다.
* Long - CAN 2.0 - long message in multi(include single) packet
** [[CanServo/Protocol/ShortMessage]] - Tail Byte = No - Single Packet Only
** [[CanServo/Protocol/LongMessage]]
** [[CanServo/Protocol/LongMessage]] - Tail Byte = Yes - Single/Multi Packet
** added CRC16, if message 8 bytes or more
 
** added tail (check) byte per packet
* 주의: Servo ID2 가 필요 없는 메시지만이 0x7FF, 0x7FE를 통과할 수 있습니다.
 
{| class="wikitable"
|-
! CAN ID
! [[CanServo/Protocol/ShortMessage | Short Message]]
! [[CanServo/Protocol/LongMessage | Long Message]]
|-
! Host -> Servo
| 0(Broadcast) or ID2
| 0x7FE, ID2+4
|-
! Servo -> Host
| ID2 or ID2+1
| 0x7FF, ID2+5
|}
 
* NOTE: ID2 must aligned by 8.


== Section / platform ==
== Section / platform ==
Line 47: Line 69:
|-
|-
| 1.1
| 1.1
| No
| -
| Yes
| Yes
|
|
Line 62: Line 84:
|-
|-
| 1.3
| 1.3
| No
| -
| Yes
| Yes
|
|
| 2.3(3)
| Yes
|
|
| Yes
|-
|-
| 1.4
| 1.4
Line 72: Line 95:
| Yes
| Yes
|
|
| 2.3(3)
| Yes
|
|
|-
| 1.5
| -
| Yes
| Yes
|
|
|
|-
| ID2+4/5
|
|
|
|
|
|
|}
|}


* DATE: 2024_11_25, G491 R1CAN
* DATE: 2024_11_25, G491 R1CAN
== History ==
=== 2025_06_19 ===
* (6) Return message has bug
** (4) Replace message keyword
*** ZRUU: ZSUU, ZXUU, ZGUU -> ZRuu, ZSuu, ZXuu, ZGuu
*** ZRID: ZSID, ZXID, ZGID -> ZRid, ZSid, ZXid, ZGid
*** ZUV1: ZUW1, ZUX1, ZUR1 -> ZUv1, ZUw1, ZUx1, ZUr1
*** ZUV2: ZUW2, ZUX2, ZUR2 -> ZUv2, ZUw2, ZUx2, ZUr2
*** 과거 FW가 반응하지 않도록 메시지 키워드를 모두 변경합니다.
*** [[CanServo/Protocol/V1.1#2025_06_19]]
*** [[CanServo/Protocol/V1.3#2025_06_19]]
** (2) No replace:
*** ZMSG -> 전송 코드 수정으로 해결
*** ZGFL ->  조심해서 사용
=== 2025_03 ===
* V1.6 추가
=== 2025_02 ===
** CAN-FD 추가
** Short Mesasge 추가
** V1.5 추가
** ID2+X 추가
=== 2024_11 ===
** R1CAN 추가

Latest revision as of 02:58, 24 September 2025

Protocol Sections

Message Types

  • 주의: Servo ID2 가 필요 없는 메시지만이 0x7FF, 0x7FE를 통과할 수 있습니다.
CAN ID Short Message Long Message
Host -> Servo 0(Broadcast) or ID2 0x7FE, ID2+4
Servo -> Host ID2 or ID2+1 0x7FF, ID2+5
  • NOTE: ID2 must aligned by 8.

Section / platform

Section Short Long ST AT G491 RR
1.0 Yes No Yes Yes Yes Yes
1.1 - Yes Yes Yes
1.2 Yes No Yes
1.3 - Yes 2.3(3) Yes
1.4 Yes Yes 2.3(3) Yes
1.5 - Yes
ID2+4/5
  • DATE: 2024_11_25, G491 R1CAN

History

2025_06_19

  • (6) Return message has bug
    • (4) Replace message keyword
      • ZRUU: ZSUU, ZXUU, ZGUU -> ZRuu, ZSuu, ZXuu, ZGuu
      • ZRID: ZSID, ZXID, ZGID -> ZRid, ZSid, ZXid, ZGid
      • ZUV1: ZUW1, ZUX1, ZUR1 -> ZUv1, ZUw1, ZUx1, ZUr1
      • ZUV2: ZUW2, ZUX2, ZUR2 -> ZUv2, ZUw2, ZUx2, ZUr2
      • 과거 FW가 반응하지 않도록 메시지 키워드를 모두 변경합니다.
      • CanServo/Protocol/V1.1#2025_06_19
      • CanServo/Protocol/V1.3#2025_06_19
    • (2) No replace:
      • ZMSG -> 전송 코드 수정으로 해결
      • ZGFL -> 조심해서 사용

2025_03

  • V1.6 추가

2025_02

    • CAN-FD 추가
    • Short Mesasge 추가
    • V1.5 추가
    • ID2+X 추가

2024_11

    • R1CAN 추가
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