Difference between revisions of "CanServo/Protocol/V1.1"

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[[CanServo/Protocol/MultiPacketsforLongMessage]]
[[CanServo/Protocol/MultiPacketsforLongMessage]]
== FD-CAN ==
* FD-CAN allows up to 64 bytes to be transmitted, so up to 63 bytes can be extracted at a time.
* This approach has not yet been implemented.

Revision as of 03:06, 3 July 2024

Under construction

CAN Protocol Ver 1.1

  • This protocol needs FW Ver 1.12+
  • The purpose of this message is to set the servo's ID based on the servo's UID.
  • CAN ID
    • 0x7FF : Servo -> Host
    • 0x7FE : Host -> Servo
  • Message : Servo -> Host
    • ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
  • Message: Host -> Servo
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
    • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
  • This message is delivered using the MultiPacket method below.

MultiPacket for Long Message

CanServo/Protocol/MultiPacketsforLongMessage

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