Difference between revisions of "CanServo/Protocol/V1.1"

Revision as of 06:26, 11 June 2024

Through this message, you can control the servo based on the UID of the servo.
Even if the ID1 and ID2 of the servo are 0, the register value of the servo can be changed.

Message : Servo -> Host
- ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>

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 first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent.
Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte.

@@ Line 24: / Line 24: @@
 == MultiPacket for Long Message ==
-* Since this message is over 8 bytes in length, it is divided into multiple packets and delivered.
+* The first step is to calculate the CRC16 of the message and add it to the end to create the content to be sent.
-** Since the maximum data length of a CAN 2.0 packet is 8 bytes, 7 bytes are cut from the entire message, and information such as order is delivered as the last byte.
+* Send (maximum) 7 bytes extracted from the content to be sent and a Check Byte.
-** To verify Message delivery error, a 2-byte value calculated by CRC16 is added, and 7 bytes are cut and sent.
 * Multi Packet's Data Format