Difference between revisions of "CanServo/Protocol/V1.6"
Jump to navigation
Jump to search
(26 intermediate revisions by the same user not shown) | |||
Line 1: | Line 1: | ||
== Custom CAN / CAN-FD == | == Custom CAN / CAN-FD baudrate == | ||
* | * if CLK is 0, parameter not valid. | ||
* if fEnable is 1 on boot, servo try Custom Baudrate. | |||
* if fReturn is 1 on boot, servo will wait for "Confirm Custom CAN" message for 'WaitTime' seconds. | |||
* | |||
* | |||
=== Get Clock List === | |||
* Set fEanble of Custom CAN parameters | |||
** | * Host -> Servo | ||
* | ** Get Clock List | ||
** | *** ZcGL, ID1(1), ID2(4) | ||
* Servo -> Host | |||
** Return Clock List | |||
*** ZrRL, ID1(1), ID2(4), N(1), ClockList(n) | |||
=== Setup Custom Parameters === | |||
* Host -> Servo | |||
** Set Custom CAN parameters | |||
*** ZcSP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2), fEnable(1), fReturn(1) | |||
*** Servo: Check CLK with Clock List | |||
*** Servo: Auto Send: "Return Custom CAN parameters" message | |||
** Set fEanble of Custom CAN parameters | |||
*** ZcSE, ID1(1), ID2(4), fEnable(1) | |||
** Get Custom CAN parameters | |||
*** ZcGP, ID1(1), ID2(4) | |||
* Servo -> Host | |||
** Return Custom CAN parameters | |||
*** ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2), fEnable(1), fReturn(1) | |||
* NOTE | |||
** WaitTime = mili seconds | |||
=== Confirm Custom Parameters === | |||
* Servo Wait on boot, if fEnable=1 and fReturn=1 | |||
** WaitTime 설정동안, Confirm 메시지를 기다림. | |||
** 시간 경과시 fEanble=0, fReturn=0 으로 변경하고 Reset | |||
* Host -> Servo | |||
** Confirm Custom CAN | |||
*** ZcCP, ID1(1), ID2(4) | |||
*** Servo: | |||
**** Step 1: Auto Send: "Return of Confirm Custom CAN" message | |||
**** Step 2: Change fReturn 1 to 0 | |||
* Servo -> Host | |||
** Return of Confirm Custom CAN | |||
*** ZrRC, ID1(1), ID2(4), fReturn(1) |
Latest revision as of 04:42, 10 June 2025
Custom CAN / CAN-FD baudrate
- if CLK is 0, parameter not valid.
- if fEnable is 1 on boot, servo try Custom Baudrate.
- if fReturn is 1 on boot, servo will wait for "Confirm Custom CAN" message for 'WaitTime' seconds.
Get Clock List
- Host -> Servo
- Get Clock List
- ZcGL, ID1(1), ID2(4)
- Get Clock List
- Servo -> Host
- Return Clock List
- ZrRL, ID1(1), ID2(4), N(1), ClockList(n)
- Return Clock List
Setup Custom Parameters
- Host -> Servo
- Set Custom CAN parameters
- ZcSP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2), fEnable(1), fReturn(1)
- Servo: Check CLK with Clock List
- Servo: Auto Send: "Return Custom CAN parameters" message
- Set fEanble of Custom CAN parameters
- ZcSE, ID1(1), ID2(4), fEnable(1)
- Get Custom CAN parameters
- ZcGP, ID1(1), ID2(4)
- Set Custom CAN parameters
- Servo -> Host
- Return Custom CAN parameters
- ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2), fEnable(1), fReturn(1)
- Return Custom CAN parameters
- NOTE
- WaitTime = mili seconds
Confirm Custom Parameters
- Servo Wait on boot, if fEnable=1 and fReturn=1
- WaitTime 설정동안, Confirm 메시지를 기다림.
- 시간 경과시 fEanble=0, fReturn=0 으로 변경하고 Reset
- Host -> Servo
- Confirm Custom CAN
- ZcCP, ID1(1), ID2(4)
- Servo:
- Step 1: Auto Send: "Return of Confirm Custom CAN" message
- Step 2: Change fReturn 1 to 0
- Confirm Custom CAN
- Servo -> Host
- Return of Confirm Custom CAN
- ZrRC, ID1(1), ID2(4), fReturn(1)
- Return of Confirm Custom CAN