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

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*** 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)
*** 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: Check CLK with Clock List
*** Servo: Save Config
*** Servo: Save
*** Servo: Auto Send: "Return Custom CAN parameters" message
*** Servo: Auto Send: "Return Custom CAN parameters" message
*** Host: fReturn=1로 설정한 경우에는, 자동 발신된 return custom can parameters 가 도착하면, Reset 명령어를 발신하고, Confirm 메시지를 발신하여 설정 완료
*** Host: fReturn=1로 설정한 경우에는, 자동 발신된 return custom can parameters 가 도착하면, Reset 명령어를 발신하고, Confirm 메시지를 발신하여 설정 완료
** Set fEnable of Custom CAN parameters
** Set fEnable of Custom CAN parameters
*** ZcSE, ID1(1), ID2(4), fEnable(1)
*** ZcSE, ID1(1), ID2(4), fEnable(1)
*** Servo: Save
** Get Custom CAN parameters
** Get Custom CAN parameters
*** ZcGP, ID1(1), ID2(4)
*** ZcGP, ID1(1), ID2(4)
* Servo -> Host
* Servo -> Host
** Return Custom CAN parameters
** 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)
*** ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2) in miliseconds, fEnable(1), fReturn(1)
 
 
* NOTE
** WaitTime = mili seconds


=== Confirm Custom Parameters ===
=== Confirm Custom Parameters ===
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* Servo Wait on boot, if fEnable=1 and fReturn=1
* Servo Wait on boot, if fEnable=1 and fReturn=1
** WaitTime 설정동안, Confirm 메시지를 기다림.
** WaitTime 설정동안, Confirm 메시지를 기다림.
** 시간 경과시 fEanble=0, fReturn=0 으로 변경하고, Save Config, Reset
*** 단, wait time 다운카운트는 Save 가능하면 처리
** 시간 경과시 fEanble=0, fReturn=0 으로 변경하고, Save, Reset


* Host -> Servo
* Host -> Servo
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**** Step 0: Wait can save
**** Step 0: Wait can save
**** Step 1: Auto Send: "Return of Confirm Custom CAN" message
**** Step 1: Auto Send: "Return of Confirm Custom CAN" message
**** Step 2: Change fReturn 1 to 0, Save Config
**** Step 2: Change fReturn 1 to 0, Save
* Servo -> Host
* Servo -> Host
** Return of Confirm Custom CAN
** Return of Confirm Custom CAN
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* Host -> Servo
* Host -> Servo
** ZcAC, ID1((1), ID2(4)
** ZcAC, ID1(1), ID2(4)


* Servo -> Host
* Servo -> Host
** ZrAC, ID(1), ID2(4), AddrAppStart(4), AddrCusParam(4)
** ZrAC, ID1(1), ID2(4), AddrAppStart(4), AddrCusParam(4)
 
* AddrAppStart, AddrCusParam = absolute address

Latest revision as of 04:23, 27 March 2026

Up

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'.

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: Save
      • Servo: Auto Send: "Return Custom CAN parameters" message
      • Host: fReturn=1로 설정한 경우에는, 자동 발신된 return custom can parameters 가 도착하면, Reset 명령어를 발신하고, Confirm 메시지를 발신하여 설정 완료
    • Set fEnable of Custom CAN parameters
      • ZcSE, ID1(1), ID2(4), fEnable(1)
      • Servo: Save
    • 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) in miliseconds, fEnable(1), fReturn(1)

Confirm Custom Parameters

  • Servo Wait on boot, if fEnable=1 and fReturn=1
    • WaitTime 설정동안, Confirm 메시지를 기다림.
      • 단, wait time 다운카운트는 Save 가능하면 처리
    • 시간 경과시 fEanble=0, fReturn=0 으로 변경하고, Save, Reset
  • Host -> Servo
    • Confirm Custom CAN
      • ZcCP, ID1(1), ID2(4)
      • Servo:
        • Step 0: Wait can save
        • Step 1: Auto Send: "Return of Confirm Custom CAN" message
        • Step 2: Change fReturn 1 to 0, Save
  • Servo -> Host
    • Return of Confirm Custom CAN
      • ZrRC, ID1(1), ID2(4), fReturn(1)

Get Address of Custom Parameters

  • Host -> Servo
    • ZcAC, ID1(1), ID2(4)
  • Servo -> Host
    • ZrAC, ID1(1), ID2(4), AddrAppStart(4), AddrCusParam(4)
  • AddrAppStart, AddrCusParam = absolute address
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