Difference between revisions of "CanServo/Protocol/V1.3"
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| Line 26: | Line 26: | ||
* Message: Host -> Servo | * Message: Host -> Servo | ||
** ZGUa, < | ** ZGUa, <UID part = 0, 4 or 8, 12, 16 bytes> | ||
* Message: Servo -> Host | * Message: Servo -> Host | ||
** ZVUd, < | ** ZVUd, <UID part = 4 bytes> | ||
== MultiPacket for Long Message == | == MultiPacket for Long Message == | ||
[[CanServo/Protocol/MultiPacketsforLongMessage]] | [[CanServo/Protocol/MultiPacketsforLongMessage]] | ||
Revision as of 06:15, 7 November 2024
CAN Protocol Ver 1.3
Write/Read Register
- Message: Host -> Servo
- ZUW1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUX1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUX2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUR1, < UID : 16 byte >, < ADDR : 2 byte >
- ZUR2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >
- Message : Servo -> Host
- ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
Broadcast UID
- Message: Host -> Servo
- ZGUALL
- ZGUD, < ID2 : 4 byte >, < ID1 : 1 byte >
- Message: Servo -> Host
- ZVUD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte >
UID search
- Message: Host -> Servo
- ZGUa, <UID part = 0, 4 or 8, 12, 16 bytes>
- Message: Servo -> Host
- ZVUd, <UID part = 4 bytes>