Difference between revisions of "CanServo/Protocol/V2.2"
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== CAN Protocol Ver 2.2 == | == CAN Protocol Ver 2.2 == | ||
* CAN Protocol Ver 1.2 -> 1.5 | * CAN Protocol Ver 1.2 -> 1.5 -> 2.2 | ||
== Write/Read Register(s) == | == Write/Read Register(s) == | ||
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== History == | == History == | ||
=== | === 2026_08_05 === | ||
* R2CAN 적용됨. | |||
* 서보의 Stream 발신 용으로는 V1.5(ZKV)를 사용함. | * 서보의 Stream 발신 용으로는 V1.5(ZKV)를 사용함. | ||
** R1CAN, R2CAN 모두 | ** R1CAN, R2CAN 모두 | ||
=== 2026_04_09 === | === 2026_04_09 === | ||
| Line 39: | Line 39: | ||
* 신규 - V1.5 + N1 목적 | * 신규 - V1.5 + N1 목적 | ||
* R1CAN 적용 | * R1CAN 적용 | ||
== T-Message == | |||
[[CanServo/Protocol/T-Message]] | |||
Latest revision as of 06:50, 11 August 2026
Up
- Up page: CanServo/Protocol/0
CAN Protocol Ver 2.2
- CAN Protocol Ver 1.2 -> 1.5 -> 2.2
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ Count-1
- ZkW1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복
- ZkW2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복
- ZkR1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, 반복
- ZkR2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, 반복
- ZkX1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복
- ZkX2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복
- Message : Servo -> Host, i = 0 ~ Count-1
- ZkV1, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >, 반복
- ZkV2, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >, 반복
- Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.
- N1 = Count and Mode
History
2026_08_05
- R2CAN 적용됨.
- 서보의 Stream 발신 용으로는 V1.5(ZKV)를 사용함.
- R1CAN, R2CAN 모두
2026_04_09
- 신규 - V1.5 + N1 목적
- R1CAN 적용