Difference between revisions of "CanServo/Protocol/0"

Latest revision as of 06:34, 20 February 2025

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
CanServo/Protocol/V1.5 - V1.5 - ZKWx, ZKRx, ZKXx, ZKVx
- Write/Read N register(s)

Tail Byte 유무에 따라 Short/Long Message로 나눕니다.
- CanServo/Protocol/ShortMessage - Tail Byte = No - Single Packet Only
- CanServo/Protocol/LongMessage - Tail Byte = Yes - Single/Multi Packet

CAN ID	Short Message	Long Message
Host -> Servo	0(Broadcast) or ID2	0x7FE, ID2+2
Servo -> Host	ID2 or ID2+1	0x7FF, ID2+3

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			Yes
1.4	Yes	Yes			Yes
1.5	-	Yes
ID2+X

@@ Line 25: / Line 25: @@
 ** [[CanServo/Protocol/ShortMessage]] - Tail Byte = No - Single Packet Only
 ** [[CanServo/Protocol/LongMessage]] - Tail Byte = Yes - Single/Multi Packet
-* CAN ID 에 따라
-** CAN ID = Servo ID2
-*** Short Message
-** CAN ID = 0x7FF, 0x7FE or Servo ID2+1
-*** 0x7FE = Host -> Servo
-*** 0x7FF = Servo -> Host
-** Long Message
 * 주의: Servo ID2 가 필요 없는 메시지만이 0x7FF, 0x7FE를 통과할 수 있습니다.
-== CAN ID ==
+{| class="wikitable"
+|-
-* CAN ID = 0x7FE = Host -> Servo
+! CAN ID
-* CAN ID = 0x7FF = Servo -> Host
+! [[CanServo/Protocol/ShortMessage | Short Message]]
-* CAN ID = Servo ID2 + 1 = CAN-FD 되면서 추가
+! [[CanServo/Protocol/LongMessage | Long Message]]
+|-
+! Host -> Servo
+| 0(Broadcast) or ID2
+| 0x7FE, ID2+2
+|-
+! Servo -> Host
+| ID2 or ID2+1
+| 0x7FF, ID2+3
+|}
 == Section / platform ==
@@ Line 100: / Line 101: @@
 |
 |-
-| ID2+1
+| ID2+X
 |
 |
@@ Line 115: / Line 116: @@
 * 2025_02
 ** CAN-FD 추가
-** FD Short/Long Mesasge 추가
+** Short Mesasge 추가
 ** V1.5 추가
-** ID2+1 추가
+** ID2+X 추가
 * 2024_11
 ** R1CAN 추가