CanServo/Protocol/0

Protocol Sections

• SERVO/PROTOCOL/CAN/V1.0/ENG - V1.0 - w/W, r/R, x/X, v/V
  • Write/Read 1 or 2 register
• Prohibited keywords ( 금지 키워드 )
  • ZRU1, ZRU2
• CanServo/Protocol/V1.1 - V1.1 - ZUID, ZIDS, ZG??, ZR??, ZS??, ZX??, 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, o/O, 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 - ZU??(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 - ZKW?, ZKR?, ZKX?, ZKV?
  • Write/Read N register(s)
• CanServo/Protocol/V1.6 - V1.6 - Zc??, Zr??
  • Custom CAN / CAN-FD
• CanServo/Protocol/V1.7 - V1.7 - Pot Calibration - ZP??
• CanServo/Protocol/V1.8 - V1.8 - zs? - Address 256이상인 Stream 설정 및 Stream 전용 Message

Message Types

• 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

• 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+4
Servo -> Host	ID2 or ID2+1	0x7FF, ID2+5

• RR 정의 (2016_01_14)
  • 이 날짜 이전 버전은 +2, +3 가 되며, Return + 1 option을 설정하면 꼬임.
  • ID2 + 2 = RR MCU 1 Access
  • ID2 + 3 = RR MCU 1 Return + 1 option
  • ID2 + 6 = RR MCU 2 Access
  • ID2 + 7 = RR MCU 2 Return + 1 option

• NOTE: ID2 must aligned by 8.

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		2.3(3)	Yes
1.4	Yes	Yes		2.3(3)	Yes
1.5	-	Yes
ID2+4/5

• DATE: 2024_11_25, G491 R1CAN

History

2026_01_14

• SR33 RR MCU 1/2 Access 기준 변경
  • 변경전: ID2 + 2, ID2 + 3
  • 변경후: ID2 + 2, ID2 + 6
  • 사유: Return +1 option을 설정하면, 실제로는 OR 1 이기 때문에, +3, +3 으로 꼬임
    • 만일 +1 이라고 해도, +3, +4 가 되어, Long Message와 꼬임.

2025_06_19

• (6) Return message has bug
  • (4) Replace message keyword
    • ZRUU: ZSUU, ZXUU, ZGUU -> ZRuu, ZSuu, ZXuu, ZGuu
    • ZRID: ZSID, ZXID, ZGID -> ZRid, ZSid, ZXid, ZGid
    • ZUV1: ZUW1, ZUX1, ZUR1 -> ZUv1, ZUw1, ZUx1, ZUr1
    • ZUV2: ZUW2, ZUX2, ZUR2 -> ZUv2, ZUw2, ZUx2, ZUr2
    • 과거 FW가 반응하지 않도록 메시지의 키워드를 변경합니다.
    • CanServo/Protocol/V1.1#2025_06_19
    • CanServo/Protocol/V1.3#2025_06_19
  • (2) No replace:
    • ZMSG -> 전송 코드 수정으로 해결
    • ZGFL -> 조심해서 사용

2025_03

• V1.6 추가

2025_02

• • CAN-FD 추가
  • Short Mesasge 추가
  • V1.5 추가
  • ID2+X 추가

2024_11

• • R1CAN 추가