Difference between revisions of "CanServo/Protocol/V1.6"

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== Custom CAN / CAN-FD ==
== Custom CAN / CAN-FD baudrate ==


* Get Clock List : Host -> Servo
* if CLK is 0, parameter not valid.
** ZcGL, ID1(1), ID2(4)
* if fEnable is 1 on boot, servo try Custom Baudrate.
* Return Clock List : Servo -> Host
* if fReturn is 1 on boot, servo will wait for "Confirm Custom CAN" message for 'WaitTime' seconds.
** ZcRL, ID1(1), ID2(4), N(1), ClockList(n)
 
* Set Custom CAN parameters : Host -> Servo
=== Get Clock List ===
** ZcSP, ID1(1), ID2(4), fSave(1), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
 
* Set fEanble of Custom CAN parameters : Host -> Servo
* Host -> Servo
** ZcSE, ID1(1), ID2(4), fSave(1), fEnable(1)
** Get Clock List
* Set fReturn of Custom CAN parameters : Host -> Servo
*** ZcGL, ID1(1), ID2(4)
** ZcSR, ID1(1), ID2(4), fSave(1), fReturn(1)
* Servo -> Host
* Get Custom CAN parameters : Host -> Servo
** Return Clock List
** ZcGP, ID1(1), ID2(4)
*** ZrRL, ID1(1), ID2(4), N(1), ClockList(n)
* Return Custom CAN parameters : Servo -> Host
 
** ZcRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
=== Setup Custom Parameters ===
* Confirm Custom CAN : Host -> Servo
 
** ZcCP, ID1(1), ID2(4)
* Host -> Servo
** 서보는 Return(ZcRC) 메시지를 보냅니다. fReturn=1이면 0으로 만들고, 저장합니다.
** Set Custom CAN parameters
* Return of Confirm Custom CAN: Servo -> Host
*** 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)
** ZcRC, ID1(1), ID2(4), fReturn_1to0(1)
*** Servo: Check CLK with Clock List
** NOTE: CAN long format
*** 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)
  • 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)
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