Difference between revisions of "CanServo/Protocol/V1.1"
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| Line 11: | Line 11: | ||
* Message : Servo -> Host | * Message : Servo -> Host | ||
** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte> | ** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte> | ||
*** 이 메시지는 ID1, ID2 중에 하나라도 0 이면 서보가 발신합니다. | |||
* Message: Host -> Servo | * Message: Host -> Servo | ||
Revision as of 01:39, 26 July 2024
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>
- 이 메시지는 ID1, ID2 중에 하나라도 0 이면 서보가 발신합니다.
- 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.