Difference between revisions of "CanServo/Protocol/V2.1"

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== CAN Protocol Ver 2.1 ==
== CAN Protocol Ver 2.1 ==


* This protocol needs FW Ver 2.3(6), or R1CAN, R2CAN
* 이 프로토콜은 V1.1 의 Write/Read Register's bit(s) by ID or UID 기능을 대체합니다.


* All messages below are sent in T-Message format.
* All messages below are sent in T-Message format.


* CAN ID
=== Write/Read N Register's bit(s) by ID or UID ===
** 0x7FF : Servo -> Host
** 0x7FE : Host -> Servo
 
=== Write/Read N Register's bits by ID or UID ===


* Message: Host -> Servo
* Message: Host -> Servo
** ZbWu - Set N Register's bit(s) by UID
** ZbWu - Write N Register's bit(s) by UID
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
*** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
** ZbRu - Get N Register's bit(s) by UID
** ZbRu - Read N Register's bit(s) by UID
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5)
*** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
** ZbXu - Set/Get N Register's bit(s) by UID
** ZbXu - Write/Read N Register's bit(s) by UID
** ZbWi - Set N Register's bit(s) by ID
** ZbWi - Write N Register's bit(s) by ID
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
*** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
** ZbRi - Get N Register's bit(s) by ID
** ZbRi - Read N Register's bit(s) by ID
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5)
*** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
** ZbXi - Set/Get N Register's bit(s) by ID
** ZbXi - Write/Read N Register's bit(s) by ID
* Mesasge: Servo -> Host
* Mesasge: Servo -> Host
** ZbVu - return n register's bit(s) by UID
** ZbVu - return n register's bit(s) by UID
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
*** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
** ZbVi - return n register's bit(s) by ID
** ZbVi - return n register's bit(s) by ID
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
*** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...


* 아래 내용 적용은 미정
* N1 = Count and Mode
* N = Count and Mode
** [[CanServo/Protocol/N1]]
** [[CanServo/Protocol/N1]]


=== History ===
=== History ===
==== 2026_04_09 ====
* N1적용, R1CAN 적용


==== 2026_04_03 ====
==== 2026_04_03 ====

Latest revision as of 02:06, 9 April 2026

Up

CAN Protocol Ver 2.1

  • 이 프로토콜은 V1.1 의 Write/Read Register's bit(s) by ID or UID 기능을 대체합니다.
  • All messages below are sent in T-Message format.

Write/Read N Register's bit(s) by ID or UID

  • Message: Host -> Servo
    • ZbWu - Write N Register's bit(s) by UID
      • UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
    • ZbRu - Read N Register's bit(s) by UID
      • UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
    • ZbXu - Write/Read N Register's bit(s) by UID
    • ZbWi - Write N Register's bit(s) by ID
      • ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
    • ZbRi - Read N Register's bit(s) by ID
      • ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
    • ZbXi - Write/Read N Register's bit(s) by ID
  • Mesasge: Servo -> Host
    • ZbVu - return n register's bit(s) by UID
      • UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
    • ZbVi - return n register's bit(s) by ID
      • ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...

History

2026_04_09

  • N1적용, R1CAN 적용

2026_04_03

  • add V2.1

T-Message

CanServo/Protocol/T-Message

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