Difference between revisions of "CanServo/Protocol/V1.5"
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== Write/Read Register(s) == | == Write/Read Register(s) == | ||
* Message: Host -> Servo, i = 0 ~ | * Message: Host -> Servo, i = 0 ~ Count-1 | ||
** ZKW1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte > | ** 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 > | ** ZKW2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ||
| Line 25: | Line 25: | ||
* 아래 내용 적용은 미정 | * 아래 내용 적용은 미정 | ||
* N = Count and Mode | |||
* | |||
** [[CanServo/Protocol/N1]] | ** [[CanServo/Protocol/N1]] | ||
Latest revision as of 03:57, 20 March 2026
Up
- Up page: CanServo/Protocol/0
CAN Protocol Ver 1.5
- CAN Protocol Ver 1.2 의 확장판입니다.
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ Count-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
- N = Count and Mode