Difference between revisions of "CanServo/Protocol/V1.1"

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== Up ==
* Up page: [[CanServo/Protocol/0]]
== CAN Protocol Ver 1.1 ==
== CAN Protocol Ver 1.1 ==


* This protocol needs FW Ver 1.12+
* This protocol needs FW Ver 1.12+
* All messages below are sent in T-Message format.


* CAN ID
* CAN ID
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* This message is delivered using the MultiPacket method below.
* This message is delivered using the MultiPacket method below.


=== Write/Read Register's bits by ID or UID ===
=== UID 2 ===


* Message: Host -> Servo
* Message: Host -> Servo
** ZGUu - Get UID
** ZGUu - Get UID
*** ID2 (4), ID1 (1)
*** ID2 (4), ID1 (1)
** ZSUU - Set Register by UID
* Servo -> Host
** ZUID
 
=== UID 3 ===
 
* DATE: 2026_03_05
* Message: Host -> Servo
** ZIDG - Get ID-Mode by UID
*** UID(16)
* Servo -> Host
** ZUID
 
=== Write/Read Register's bits by ID or UID ===
 
* Message: Host -> Servo
** ZSuu - Set Register by UID
*** UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
*** UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
** ZXuu - ZSUU and ZGuu
*** NOTE: (2025_06_19) ZXUU -> ZXuu
** ZGuu - Get Register by UID
** ZGuu - Get Register by UID
*** UID (16), ADDR (1), bit 0.5, bits (0.5)
*** UID (16), ADDR (1), bit 0.5, bits (0.5)
*** NOTE: (2025_06_19) ZGUU -> ZGuu
** ZXuu - Set/Get Register by UID
** ZSID,ZXID - Set Register by ID ( ZXID -> Set,Get )
** ZSid - Set Register by ID
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
** ZXid - Set/Get Register by ID
** ZGid - Get Register by ID
** ZGid - Get Register by ID
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
*** NOTE: (2025_06_19) ZGID -> ZGid
* Mesasge: Servo -> Host
* Mesasge: Servo -> Host
** ZRUU - return register by UID
** ZRuu - return register by UID
*** UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
*** UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
** ZRID - return register by ID
** ZRid - return register by ID
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
*** ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)


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* ZSDF
* ZSDF
* ZFWU
* ZFWU
* NOTE: ID2, ID1


=== Message ===
=== Message ===


* ZMSG
* ZMSG, id2: 4 byte, id1: 1 byte, level: 1 byte, msg
 
=== History ===
==== 2026_03_05 ====
 
* add ZIDG
 
==== 2025_06_19 ====
 
* Replace message by bug in ZRUU, ZRID
** ZSUU -> ZSuu
** ZXUU -> ZXuu
** ZGUU -> ZGuu
** ZRUU -> ZRuu
** ZSID -> ZSid
** ZXID -> ZXid
** ZGID -> ZGid
** ZRID -> ZRid


== Long Message ==
== T-Message ==


[[CanServo/Protocol/LongMessage]]
[[CanServo/Protocol/T-Message]]

Latest revision as of 08:27, 16 March 2026

Up

CAN Protocol Ver 1.1

  • This protocol needs FW Ver 1.12+
  • All messages below are sent in T-Message format.
  • CAN ID
    • 0x7FF : Servo -> Host
    • 0x7FE : Host -> Servo

UID

  • Message : Servo -> Host
    • ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
    • This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.
  • Message: Host -> Servo
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
    • The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.
  • This message is delivered using the MultiPacket method below.

UID 2

  • Message: Host -> Servo
    • ZGUu - Get UID
      • ID2 (4), ID1 (1)
  • Servo -> Host
    • ZUID

UID 3

  • DATE: 2026_03_05
  • Message: Host -> Servo
    • ZIDG - Get ID-Mode by UID
      • UID(16)
  • Servo -> Host
    • ZUID

Write/Read Register's bits by ID or UID

  • Message: Host -> Servo
    • ZSuu - Set Register by UID
      • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
    • ZGuu - Get Register by UID
      • UID (16), ADDR (1), bit 0.5, bits (0.5)
    • ZXuu - Set/Get Register by UID
    • ZSid - Set Register by ID
      • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
    • ZXid - Set/Get Register by ID
    • ZGid - Get Register by ID
      • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
  • Mesasge: Servo -> Host
    • ZRuu - return register by UID
      • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
    • ZRid - return register by ID
      • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)

File Access

  • ZGFL
  • ZSDF
  • ZFWU
  • NOTE: ID2, ID1

Message

  • ZMSG, id2: 4 byte, id1: 1 byte, level: 1 byte, msg

History

2026_03_05

  • add ZIDG

2025_06_19

  • Replace message by bug in ZRUU, ZRID
    • ZSUU -> ZSuu
    • ZXUU -> ZXuu
    • ZGUU -> ZGuu
    • ZRUU -> ZRuu
    • ZSID -> ZSid
    • ZXID -> ZXid
    • ZGID -> ZGid
    • ZRID -> ZRid

T-Message

CanServo/Protocol/T-Message

Retrieved from "http://support.hitecrcd.net:7700/index.php?title=CanServo/Protocol/V1.1&oldid=1807"