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

Latest revision as of 06:49, 11 August 2026

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), ...

@@ Line 5: / Line 5: @@
 == CAN Protocol Ver 2.1 ==
-* 이 프로토콜은 V1.1 의 Write/Read Register's bit(s) by ID or UID 기능을 대체합니다.
+* 이 프로토콜은 V1.1 의 Write/Read Register's bit(s) by ID or UID 기능을 확장합니다.
 * All messages below are sent in T-Message format.
-* CAN ID = 0x7Fx or ID2+4+5
+== Write/Read N Register's bit(s) by ID or UID ==
-=== Write/Read N Register's bit(s) by ID or UID ===
 * Message: Host -> Servo
@@ Line 33: / Line 31: @@
 ** [[CanServo/Protocol/N1]]
-=== History ===
+== History ==
+=== 2026_08_05 ===
+* R2CAN 적용됨.
-==== 2026_04_09 ====
+=== 2026_04_09 ===
-* R1CAN 적용
+* N1적용, R1CAN 적용
-==== 2026_04_03 ====
+=== 2026_04_03 ===
 * add V2.1