Difference between revisions of "CanServo/Protocol/V1.9"

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== Read PZ ==
== Read PZ ==


* Long Message
* T-Message only
* 0x7Fx 전용
* 0x7Fx, 혹은 ID2+4+5
 
* i = 0 - Count-1


* Host -> Servo
* Host -> Servo
** ZZTG, < ID2 : 4 byte >, < ID1 : 1 byte >, <Index : 2 byte >
** ZZTr, < Target Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복
** ZZTR, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복


* Servo -> Host
* Servo -> Host
** ZZTV, < ID2 : 4 byte >, < ID1 : 1 byte >, < Index : 2 byte >, < Size : 1 byte = 1, 2, 4 >, < Data : 1 ~ 4 byte >
** ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
** ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
 
 
* 아래 내용 적용은 미정
* N = Count and Mode
** [[CanServo/Protocol/N1]]

Latest revision as of 03:59, 20 March 2026

Up

Read PZ

  • T-Message only
  • 0x7Fx, 혹은 ID2+4+5
  • i = 0 - Count-1
  • Host -> Servo
    • ZZTr, < Target Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복
    • ZZTR, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복
  • Servo -> Host
    • ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
    • ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복


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