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

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* 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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** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
** 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.
** This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.
** Also sent by ZIDG.


* Message: Host -> Servo
* Message: Host -> Servo
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** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 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.
** The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.
** ZIDG, <UID : 16 byte>
*** Servo send ZUID
*** DATE: 2026_03_05


* This message is delivered using the MultiPacket method below.
* This message is delivered using the MultiPacket method below.
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** ZGUu - Get UID
** ZGUu - Get UID
*** ID2 (4), ID1 (1)
*** 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
* Servo -> Host
** ZUID
** ZUID


=== Write/Read Register's bits by ID or UID ===
=== Write/Read Register's bits by ID or UID ===
* Protocol V2.1 로 대체 예정 (260403)


* Message: Host -> Servo
* Message: Host -> Servo
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=== File Access ===
=== File Access ===
* ZGFL
* ZFWU - Update 대상 FW 파일이름을 Host가 Servo에게 알리는 메시지
* ZSDF
* ZGFL - Servo가 받은 파일이름을
* ZFWU
* ZSDF - Host가 받은 ZGFL 에 대한 응답


* NOTE: ID2, ID1
* NOTE: ID2, ID1
* Reg 276 bit 5:4 에 영향을 받는 메시지
** ZUID - Send UUID - 우리 프로토콜
** ZGFL
** ZMSG
** UAVCAN Send DNA -


=== Message ===
=== Message ===
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==== 2026_03_05 ====
==== 2026_03_05 ====


* add ZIDG 추가
* add ZIDG


==== 2025_06_19 ====
==== 2025_06_19 ====
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** ZRID -> ZRid
** ZRID -> ZRid


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


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

Latest revision as of 05:48, 29 April 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

  • Protocol V2.1 로 대체 예정 (260403)
  • 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

  • ZFWU - Update 대상 FW 파일이름을 Host가 Servo에게 알리는 메시지
  • ZGFL - Servo가 받은 파일이름을
  • ZSDF - Host가 받은 ZGFL 에 대한 응답
  • NOTE: ID2, ID1
  • Reg 276 bit 5:4 에 영향을 받는 메시지
    • ZUID - Send UUID - 우리 프로토콜
    • ZGFL
    • ZMSG
    • UAVCAN Send DNA -

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=1963"