Difference between revisions of "CanServo/Protocol/V1.9"
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| (2 intermediate revisions by the same user not shown) | |||
| Line 10: | Line 10: | ||
* Host -> Servo | * Host -> Servo | ||
** ZZTr, < Target ID2 : 4 byte >, < Target | ** ZZTr, < Target ID2 : 4 byte >, < Target ID1 : 1 byte >, < N1: 1 byte >, < iIndex : 2 byte >, 반복 | ||
** ZZTR, < UID : 16 byte >, < N1: 1 byte >, < iIndex : 2 byte >, 반복 | ** ZZTR, < UID : 16 byte >, < N1: 1 byte >, < iIndex : 2 byte >, 반복 | ||
| Line 22: | Line 22: | ||
== History == | == History == | ||
=== 2026_08_05 === | |||
* R2CAN 적용됨. | |||
=== 2026_04_09 === | === 2026_04_09 === | ||
* N1 적용, R1CAN 적용 | * N1 적용, R1CAN 적용 | ||
== T-Message == | |||
[[CanServo/Protocol/T-Message]] | |||
Latest revision as of 06:38, 11 August 2026
Up
- Up page: CanServo/Protocol/0
Read PZ
- T-Message only
- i = 0 to Count-1
- Host -> Servo
- ZZTr, < Target ID2 : 4 byte >, < Target ID1 : 1 byte >, < N1: 1 byte >, < iIndex : 2 byte >, 반복
- ZZTR, < UID : 16 byte >, < N1: 1 byte >, < iIndex : 2 byte >, 반복
- Servo -> Host
- ZZTv, < Servo ID2 : 4 byte >, < Servo ID1 : 1 byte >, < N1: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
- ZZTV, < UID : 16 byte >, < N1: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
- N1 = Count and Mode
History
2026_08_05
- R2CAN 적용됨.
2026_04_09
- N1 적용, R1CAN 적용