Difference between revisions of "CanServo/Protocol/V1.5"

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* N bit 7:6
* N bit 7:6
** Host -> Servo
** [[CanServo/Protocol/N1]]
*** 0 = normal ( 설정대로 반응: active only, 혹은 모두 반응 )
*** 1 = active only
*** 2 = all -> active, inactive 반응
*** 3 = MCU 1/2
** Servo -> Host
*** 0 = active
*** 1 = inactive
*** 2 = MCU 1
*** 3 = MCU 2

Revision as of 03:54, 20 March 2026

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CAN Protocol Ver 1.5

  • CAN Protocol Ver 1.2 의 확장판입니다.

Write/Read Register(s)

  • Message: Host -> Servo, i = 0 ~ N-1
    • ZKW1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZKW2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
    • ZKR1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >
    • ZKR2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >
    • ZKX1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZKX2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
  • Message : Servo -> Host, i = 0 ~ Count-1
    • ZKV1, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZKV2, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
  • Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.


  • 아래 내용 적용은 미정
  • Count = N bit 5:0 = 0-63
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