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 === | ||
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==== 2026_04_09 ==== | ==== 2026_04_09 ==== | ||
* R1CAN 적용 | * 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