Difference between revisions of "CanServo/Protocol/0"

Revision as of 00:03, 20 June 2025

SERVO/PROTOCOL/CAN/V1.0/ENG - V1.0 - w/W, r/R, x/X, v/V
- Write/Read 1 or 2 register
금지 키워드
- ZRU1, ZRU2
CanServo/Protocol/V1.1 - V1.1 - ZUID, ZIDS, ZG??, ZR??, ZS??, ZX??, FILE(ZGFL, ZSDF, ZFWU), ZMSG
- Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
- Write/Read register's bits by ID or UID
- FILE Access
- Message: ZMSG
CanServo/Protocol/V1.2 - V1.2 - p/P, g/G, o/O, y/Y
- Write/Read 1 or 2 register with 2 byte address in 1 packet
  - address = max 1024 range (0~1023)
CanServo/Protocol/V1.3 - V1.3 - ZU??(Except ZUID), K
- Write/Read 1 or 2 register via UID
- Broadcast UID
- UID search
CanServo/Protocol/V1.4 - V1.4 - sync
CanServo/Protocol/V1.5 - V1.5 - ZKW?, ZKR?, ZKX?, ZKV?
- Write/Read N register(s)
CanServo/Protocol/V1.6 - V1.6 - Zc??, Zr??
- Custom CAN / CAN-FD

Tail Byte 유무에 따라 Short/Long Message로 나눕니다.
- CanServo/Protocol/ShortMessage - Tail Byte = No - Single Packet Only
- CanServo/Protocol/LongMessage - Tail Byte = Yes - Single/Multi Packet

CAN ID	Short Message	Long Message
Host -> Servo	0(Broadcast) or ID2	0x7FE, ID2+4
Servo -> Host	ID2 or ID2+1	0x7FF, ID2+5

Section	Short	Long	ST	AT	G491	RR
1.0	Yes	No	Yes	Yes	Yes	Yes
1.1	-	Yes		Yes	Yes
1.2	Yes	No				Yes
1.3	-	Yes		2.3(3)	Yes
1.4	Yes	Yes		2.3(3)	Yes
1.5	-	Yes
ID2+4/5

@@ Line 123: / Line 123: @@
 ** ZRUU, ZRID, ZUV1, ZUV2 메시지는 과거 수정되지 않은 FW는 반응하지 않도록, 명령을 변경합니다.
 ** (4) Replace command message
-*** ZRUU: ZXUU, ZGUU -> ZXuu, ZGuu
+*** ZRUU: ZXUU, ZGUU -> ZRuu, ZXuu, ZGuu
-*** ZRID: ZGID -> ZGid
+*** ZRID: ZGID -> ZRid, ZGid
-*** ZUV1: ZUX1, ZUR1 -> ZUx1, ZUr1
+*** ZUV1: ZUX1, ZUR1 -> ZUv1, ZUx1, ZUr1
-*** ZUV2: ZUX2, ZUR2 -> ZUx2, ZUr2
+*** ZUV2: ZUX2, ZUR2 -> ZUv2, ZUx2, ZUr2
 ** (2) No replace:
 *** ZMSG