Difference between revisions of "CanServo/Protocol/V1.5"

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(Created page with "== CAN Protocol Ver 1.3 == * All messages below are sent in long format. * CAN ID ** 0x7FF : Servo -> Host ** 0x7FE : Host -> Servo == Write/Read Register(s) == * Message:...")
 
 
(29 intermediate revisions by the same user not shown)
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== CAN Protocol Ver 1.3 ==
== Up ==


* All messages below are sent in long format.
* Up page: [[CanServo/Protocol/0]]


* CAN ID
== CAN Protocol Ver 1.5 ==
** 0x7FF : Servo -> Host
 
** 0x7FE : Host -> Servo
* CAN Protocol Ver 1.2 의 확장판입니다.
* 260409 - V1.5는 폐기, V2.2 로 대치합니다.
** 이 시점 R2CAN에 존재함.


== Write/Read Register(s) ==
== Write/Read Register(s) ==


* Message: Host -> Servo, i = 0 ~ N-1
* Message: Host -> Servo, i = 0 ~ Count-1
** ZKW, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
** ZKW1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
** ZKR, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, i = 0 ~ N-1
** ZKW2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
** ZKX, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
** ZKR1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >
** ZKR2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >
** ZKX1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
** ZKX2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
 
* Message : Servo -> Host, i = 0 ~ Count-1
** ZKV1, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
** ZKV2, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >


* Message : Servo -> Host, i = 0 ~ N-1
* Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.
** ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >

Latest revision as of 02:07, 9 April 2026

Up

CAN Protocol Ver 1.5

  • CAN Protocol Ver 1.2 의 확장판입니다.
  • 260409 - V1.5는 폐기, V2.2 로 대치합니다.
    • 이 시점 R2CAN에 존재함.

Write/Read Register(s)

  • Message: Host -> Servo, i = 0 ~ Count-1
    • ZKW1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZKW2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
    • ZKR1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >
    • ZKR2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >
    • ZKX1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZKX2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
  • Message : Servo -> Host, i = 0 ~ Count-1
    • ZKV1, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZKV2, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
  • Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.
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