Difference between revisions of "CanServo/Protocol/V1.3"
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== CAN Protocol Ver 1.3 == | == CAN Protocol Ver 1.3 == | ||
* 아래 모든 메시지는 Long 포맷으로 전송합니다. | |||
=== Write/Read Register === | === Write/Read Register === | ||
Revision as of 04:46, 22 November 2024
CAN Protocol Ver 1.3
- 아래 모든 메시지는 Long 포맷으로 전송합니다.
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
- ZUAL --> old: ZGUALL
- ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
- Message: Servo -> Host
- ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD
UID search
- Message: Host -> Servo
- ZUgK, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
- Message: Servo -> Host
- K, <offset=0, 4, 8, 12>, <UID part = 4 bytes>