Difference between revisions of "CanServo/Protocol/V1.1"
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| Line 2: | Line 2: | ||
* This protocol needs FW Ver 1.12+ | * This protocol needs FW Ver 1.12+ | ||
* CAN ID | * CAN ID | ||
| Line 17: | Line 15: | ||
** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 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> | ** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte> | ||
** UID 가 일치하는 서보는 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다. | |||
* This message is delivered using the MultiPacket method below. | * This message is delivered using the MultiPacket method below. | ||
Revision as of 01:53, 26 July 2024
CAN Protocol Ver 1.1
- This protocol needs FW Ver 1.12+
- 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 서보 설정 중에 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>
- UID 가 일치하는 서보는 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다.
- This message is delivered using the MultiPacket method below.