Difference between revisions of "CanServo/Protocol/N1"
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| (2 intermediate revisions by the same user not shown) | |||
| Line 3: | Line 3: | ||
** R1CAN | ** R1CAN | ||
*** Host -> Servo | *** Host -> Servo | ||
**** C0 = normal ( 서보의 설정대로 반응: active only, 혹은 모두 반응 ) | **** C0 = normal ( 서보의 설정대로 반응: active only, 혹은 모두 반응 ) | ||
**** C1 = active only | **** C1 = active only | ||
**** C2,C3 = all ( active, inactive 반응 ) | **** C2,C3 = all ( active, inactive 반응 ) | ||
*** Servo -> Host | *** Servo -> Host | ||
**** | **** 0 | ||
** R2CAN | ** R2CAN | ||
*** Host -> Servo | *** Host -> Servo | ||
Latest revision as of 02:18, 9 April 2026
- N bit 3:0 = n = 0 - 15
- N bit 7:6 = Mode = 0 - 3
- R1CAN
- Host -> Servo
- C0 = normal ( 서보의 설정대로 반응: active only, 혹은 모두 반응 )
- C1 = active only
- C2,C3 = all ( active, inactive 반응 )
- Servo -> Host
- 0
- Host -> Servo
- R2CAN
- Host -> Servo
- C0 = normal ( 서보의 설정대로 반응: active only, 혹은 모두 반응 ) = 서보 반응: R0 or R1
- C1 = active only = 서보 반응: R0
- C2 = all ( active, inactive 반응 ) = 서보 반응: R0 or R1
- C3 = all ( MCU 1/2 반응 ) = 서보 반응: R2 or R3
- Servo -> Host
- R0 = active
- R1 = inactive
- R2 = MCU 1
- R3 = MCU 2
- Host -> Servo
- R1CAN
- NOTE
- 260403 현재 이 내용이 적용된 FW는 없음.