Difference between revisions of "CanServo/Protocol/V2.1"
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* Message: Host -> Servo | * Message: Host -> Servo | ||
** ZbWu - Set N Register's bit(s) by UID | ** ZbWu - Set N Register's bit(s) by UID | ||
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ... | ||
** ZbRu - Get N Register's bit(s) by UID | ** ZbRu - Get N Register's bit(s) by UID | ||
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5) | *** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), ... | ||
** ZbXu - Set/Get N Register's bit(s) by UID | ** ZbXu - Set/Get N Register's bit(s) by UID | ||
** ZbWi - Set N Register's bit(s) by ID | ** ZbWi - Set N Register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ... | ||
** ZbRi - Get N Register's bit(s) by ID | ** ZbRi - Get N Register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5) | *** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), ... | ||
** ZbXi - Set/Get N Register's bit(s) by ID | ** ZbXi - Set/Get N Register's bit(s) by ID | ||
* Mesasge: Servo -> Host | * Mesasge: Servo -> Host | ||
** ZbVu - return n register's bit(s) by UID | ** ZbVu - return n register's bit(s) by UID | ||
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ... | ||
** ZbVi - return n register's bit(s) by ID | ** ZbVi - return n register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ... | ||
* 아래 내용 적용은 미정 | * 아래 내용 적용은 미정 | ||
Revision as of 03:28, 3 April 2026
Up
- Up page: CanServo/Protocol/0
CAN Protocol Ver 2.1
- This protocol needs FW Ver 2.3(6), or R1CAN, R2CAN
- All messages below are sent in T-Message format.
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
Write/Read N Register's bits by ID or UID
- Message: Host -> Servo
- ZbWu - Set N Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbRu - Get N Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), ...
- ZbXu - Set/Get N Register's bit(s) by UID
- ZbWi - Set N Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbRi - Get N Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), ...
- ZbXi - Set/Get N Register's bit(s) by ID
- ZbWu - Set N Register's bit(s) by UID
- Mesasge: Servo -> Host
- ZbVu - return n register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbVi - return n register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbVu - return n register's bit(s) by UID
- 아래 내용 적용은 미정
- N = Count and Mode
History
2026_04_03
- add V2.1