CanServo/Protocol/V1.1

CAN Protocol Ver 1.1

• This protocol needs FW Ver 1.12+

• 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.

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

• 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>

• This message is delivered using the MultiPacket method below.

MultiPacket for Long Message

• 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.

• Multi Packet's Data Format
  • < Data : max 7 byte, cut from 'Message + CRC16' >, <Check Byte>
  • Check Byte
    • bit 7 = 1, if first packet
    • bit 6 = 1, if last packet
    • bit 5 = Toggle, first packet = 1, toggle bit on each packet
    • bit 4:0 = Seq, 0 ~ 31, inc 1 on each message

• Note:
  • ID2, CRC16 : byte order : low byte first, little endian

• Reference:
  • Code/CRC16

FD-CAN

• FD-CAN allows up to 64 bytes to be transmitted, so up to 63 bytes can be extracted at a time.

• This approach has not yet been implemented.