Difference between revisions of "CanServo/Protocol/V1.3"
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(Created page with "== CAN Protocol Ver 1.2 == * Message: Host -> Servo ** ZUW1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte > ** ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 :...") |
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== CAN Protocol Ver 1.2 == | == CAN Protocol Ver 1.2 == | ||
=== Write/Read Register === | |||
* Message: Host -> Servo | * Message: Host -> Servo | ||
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** ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte > | ** ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte > | ||
** ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte > | ** ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte > | ||
=== Broadcast UID === | |||
* Message: Host -> Servo | |||
** ZGUD, < ID1 : byte >, < ID2 : 2 byte > | |||
* Message: Servo -> Host | |||
** ZVUD, < UID : 16 byte >, < ID1 : byte >, < ID2 : 2 byte > | |||
Revision as of 02:59, 3 July 2024
CAN Protocol Ver 1.2
Write/Read Register
- Message: Host -> Servo
- ZUW1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUX1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUX2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUR1, < UID : 16 byte >, < ADDR : 2 byte >
- ZUR2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >
- Message : Servo -> Host
- ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
Broadcast UID
- Message: Host -> Servo
- ZGUD, < ID1 : byte >, < ID2 : 2 byte >
- Message: Servo -> Host
- ZVUD, < UID : 16 byte >, < ID1 : byte >, < ID2 : 2 byte >