Difference between revisions of "CanServo/Protocol/0"

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Line 35: Line 35:
|-
|-
! Host -> Servo
! Host -> Servo
| 0(Broadcast) or ID2+0
| 0(Broadcast) or ID2
| 0x7FE, ID2+1
| 0x7FE, ID2+2
|-
|-
! Servo -> Host
! Servo -> Host
| ID2(old) or ID2+2
| ID2 or ID2+1
| 0x7FF, ID2+3
| 0x7FF, ID2+3
|}
|}
Line 118: Line 118:
** Short Mesasge 추가
** Short Mesasge 추가
** V1.5 추가
** V1.5 추가
** ID2+1 추가
** ID2+X 추가


* 2024_11
* 2024_11
** R1CAN 추가
** R1CAN 추가

Latest revision as of 06:34, 20 February 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
  • CanServo/Protocol/V1.5 - V1.5 - ZKWx, ZKRx, ZKXx, ZKVx
    • Write/Read N register(s)

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+2
Servo -> Host ID2 or ID2+1 0x7FF, ID2+3

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 Yes
1.4 Yes Yes Yes
1.5 - Yes
ID2+X
  • DATE: 2024_11_25, G491 R1CAN

History

  • 2025_02
    • CAN-FD 추가
    • Short Mesasge 추가
    • V1.5 추가
    • ID2+X 추가
  • 2024_11
    • R1CAN 추가
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