Difference between revisions of "CanServo/Protocol/V1.9"
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| Line 11: | Line 11: | ||
* Host -> Servo | * Host -> Servo | ||
** ZZTr, < Target Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < | ** ZZTr, < Target Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복 | ||
** ZZTR, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < | ** ZZTR, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복 | ||
* Servo -> Host | * Servo -> Host | ||
** ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < | ** ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복 | ||
** ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < | ** ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복 | ||
Latest revision as of 03:59, 20 March 2026
Up
- Up page: CanServo/Protocol/0
Read PZ
- T-Message only
- 0x7Fx, 혹은 ID2+4+5
- i = 0 - Count-1
- Host -> Servo
- ZZTr, < Target Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복
- ZZTR, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, 반복
- Servo -> Host
- ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
- ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
- 아래 내용 적용은 미정
- N = Count and Mode