Difference between revisions of "CanServo/Protocol/V2.1"
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* All messages below are sent in T-Message format. | * All messages below are sent in T-Message format. | ||
=== Write/Read N Register's bit(s) by ID or UID === | === Write/Read N Register's bit(s) by ID or UID === | ||
| Line 17: | Line 13: | ||
* Message: Host -> Servo | * Message: Host -> Servo | ||
** ZbWu - Write N Register's bit(s) by UID | ** ZbWu - Write N Register's bit(s) by UID | ||
*** UID (16), | *** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ... | ||
** ZbRu - Read N Register's bit(s) by UID | ** ZbRu - Read N Register's bit(s) by UID | ||
*** UID (16), | *** UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), ... | ||
** ZbXu - Write/Read N Register's bit(s) by UID | ** ZbXu - Write/Read N Register's bit(s) by UID | ||
** ZbWi - Write N Register's bit(s) by ID | ** ZbWi - Write N Register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), | *** 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 | ** ZbRi - Read N Register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), | *** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), ... | ||
** ZbXi - Write/Read 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), | *** 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), | *** ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ... | ||
* | * N1 = 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
- Up page: CanServo/Protocol/0
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
- ZbWu - Write N Register's bit(s) by UID
- 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), ...
- ZbVu - return n register's bit(s) by UID
- N1 = Count and Mode
History
2026_04_09
- N1적용, R1CAN 적용
2026_04_03
- add V2.1