Difference between revisions of "CanServo/Protocol/V2.2"
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(Created page with "== Up == * Up page: CanServo/Protocol/0 == CAN Protocol Ver 2.2 == * CAN Protocol Ver 1.2 -> 1.5 -> 2.2 == Write/Read Register(s) == * Message: Host -> Servo, i = 0 ~...") |
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== CAN Protocol Ver 2.2 == | == CAN Protocol Ver 2.2 == | ||
* CAN Protocol Ver 1.2 -> 1.5 -> 2.2 | * CAN Protocol Ver 1.2 -> 1.5(폐기) -> 2.2 | ||
== Write/Read Register(s) == | == Write/Read Register(s) == | ||
* Message: Host -> Servo, i = 0 ~ Count-1 | * Message: Host -> Servo, i = 0 ~ Count-1 | ||
** ZkW1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte > | ** ZkW1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복 | ||
** ZkW2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZkW2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복 | ||
** ZkR1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte > | ** ZkR1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, 반복 | ||
** ZkR2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte > | ** ZkR2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, 반복 | ||
** ZkX1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte > | ** ZkX1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복 | ||
** ZkX2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZkX2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복 | ||
* Message : Servo -> Host, i = 0 ~ Count-1 | * Message : Servo -> Host, i = 0 ~ Count-1 | ||
** ZkV1, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte > | ** ZkV1, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복 | ||
** ZkV2, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZkV2, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복 | ||
* Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다. | * Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다. | ||
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* N1 = Count and Mode | * N1 = Count and Mode | ||
** [[CanServo/Protocol/N1]] | ** [[CanServo/Protocol/N1]] | ||
== History == | |||
=== 2026_04_09 === | |||
* 신규 - V1.5 대치 목적 | |||
* R1CAN 적용 | |||
Latest revision as of 02:07, 9 April 2026
Up
- Up page: CanServo/Protocol/0
CAN Protocol Ver 2.2
- CAN Protocol Ver 1.2 -> 1.5(폐기) -> 2.2
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ Count-1
- ZkW1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복
- ZkW2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복
- ZkR1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, 반복
- ZkR2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, 반복
- ZkX1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복
- ZkX2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복
- Message : Servo -> Host, i = 0 ~ Count-1
- ZkV1, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복
- ZkV2, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복
- Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.
- N1 = Count and Mode
History
2026_04_09
- 신규 - V1.5 대치 목적
- R1CAN 적용