Difference between revisions of "CanServo/Protocol/V1.1"
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* This protocol needs FW Ver 1.12+ | * This protocol needs FW Ver 1.12+ | ||
* CAN ID | * CAN ID | ||
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=== Write/Read Register's bits by ID or UID === | === Write/Read Register's bits by ID or UID === | ||
* NOTE: DO NOT USE THIS PROTOCOL: Bug found on this section ! | |||
* Message: Host -> Servo | * Message: Host -> Servo | ||
Revision as of 09:36, 28 May 2025
CAN Protocol Ver 1.1
- This protocol needs FW Ver 1.12+
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
UID
- Message : Servo -> Host
- ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
- This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.
- 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>
- The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.
- This message is delivered using the MultiPacket method below.
Write/Read Register's bits by ID or UID
- NOTE: DO NOT USE THIS PROTOCOL: Bug found on this section !
- Message: Host -> Servo
- ZGUu - Get UID
- ID2 (4), ID1 (1)
- ZSUU,ZXUU - Set Register by UID, ( ZXUU -> Set,Get )
- UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZGUU - Get Register by UID
- UID (16), ADDR (1), bit 0.5, bits (0.5)
- ZSID,ZXID - Set Register by ID ( ZXID -> Set,Get )
- ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZGID - Get Register by ID
- ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
- ZGUu - Get UID
- Mesasge: Servo -> Host
- ZRUU - return register by UID
- UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZRID - return register by ID
- ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZRUU - return register by UID
File Access
- ZGFL
- ZSDF
- ZFWU
Message
- ZMSG