Difference between revisions of "CanServo/Protocol/V1.3"
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** ZUgK, <magic = bit 5:0 in 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa | ** ZUgK, <magic = bit 5:0 in 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa | ||
* Message: Servo -> Host | * Message: Servo -> Host | ||
** K, <magic = bit 5:0 in 1 byte, bit 7:6 = offset>, <UID part = | ** K, <magic = bit 5:0 in 1 byte, bit 7:6 = offset>, <UID part = max 3 bytes> | ||
*** offset = 0,1,2,3 = 0, 4, 8, 12 byte offset | *** offset = 0,1,2,3 = 0, 4, 8, 12 byte offset | ||
Revision as of 06:04, 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, <magic = bit 5:0 in 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
- Message: Servo -> Host
- K, <magic = bit 5:0 in 1 byte, bit 7:6 = offset>, <UID part = max 3 bytes>
- offset = 0,1,2,3 = 0, 4, 8, 12 byte offset
- K, <magic = bit 5:0 in 1 byte, bit 7:6 = offset>, <UID part = max 3 bytes>