Difference between revisions of "CanServo/Protocol/V1.5"
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* Message: Host -> Servo, i = 0 ~ N-1 | * Message: Host -> Servo, i = 0 ~ N-1 | ||
** ZKW, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZKW, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ||
** ZKR, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte > | ** ZKR, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte > | ||
** ZKX, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZKX, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ||
* Message : Servo -> Host, i = 0 ~ N-1 | * Message : Servo -> Host, i = 0 ~ N-1 | ||
** ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ||
* N가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다. | |||
== Long Message == | == Long Message == | ||
[[CanServo/Protocol/LongMessage]] | [[CanServo/Protocol/LongMessage]] | ||
Revision as of 06:39, 18 February 2025
CAN Protocol Ver 1.5
- CAN Protocol Ver 1.2 의 확장판입니다.
- All messages below are sent in long format.
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ N-1
- ZKW, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- ZKR, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >
- ZKX, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- Message : Servo -> Host, i = 0 ~ N-1
- ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- N가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.