CanServo/Protocol/V1.1

Up

• Up page: CanServo/Protocol/0

CAN Protocol Ver 1.1

• This protocol needs FW Ver 1.12+

• All messages below are sent in T-Message format.

• CAN ID
  • 0x7FF : Servo -> Host
  • 0x7FE : Host -> Servo

UID

• Message : Servo -> Host
  • ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
  • This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.

• Message: Host -> Servo
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
  • The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.

• This message is delivered using the MultiPacket method below.

UID 2

• Message: Host -> Servo
  • ZGUu - Get UID
    • ID2 (4), ID1 (1)
• Servo -> Host
  • ZUID

UID 3

• DATE: 2026_03_05
• Message: Host -> Servo
  • ZIDG - Get ID-Mode by UID
    • UID(16)
• Servo -> Host
  • ZUID

Write/Read Register's bits by ID or UID

• Protocol V2.1 로 대체 예정 (260403)

• Message: Host -> Servo
  • ZSuu - Set Register by UID
    • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
  • ZGuu - Get Register by UID
    • UID (16), ADDR (1), bit 0.5, bits (0.5)
  • ZXuu - Set/Get Register by UID
  • ZSid - Set Register by ID
    • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
  • ZXid - Set/Get Register by ID
  • ZGid - Get Register by ID
    • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
• Mesasge: Servo -> Host
  • ZRuu - return register by UID
    • UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
  • ZRid - return register by ID
    • ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)

File Access

• ZFWU - Update 대상 FW 파일이름을 Host가 Servo에게 알리는 메시지
• ZGFL - Servo가 받은 파일이름을
• ZSDF - Host가 받은 ZGFL 에 대한 응답

• NOTE: ID2, ID1

• Reg 276 bit 5:4 에 영향을 받는 메시지
  • ZUID - Send UUID - 우리 프로토콜
  • ZGFL
  • ZMSG
  • UAVCAN Send DNA -

Message

• ZMSG, id2: 4 byte, id1: 1 byte, level: 1 byte, msg

History

2026_03_05

• add ZIDG

2025_06_19

• Replace message by bug in ZRUU, ZRID
  • ZSUU -> ZSuu
  • ZXUU -> ZXuu
  • ZGUU -> ZGuu
  • ZRUU -> ZRuu
  • ZSID -> ZSid
  • ZXID -> ZXid
  • ZGID -> ZGid
  • ZRID -> ZRid

T-Message

CanServo/Protocol/T-Message