Difference between revisions of "CanServo/Protocol/V1.3"
Jump to navigation
Jump to search
| Line 18: | Line 18: | ||
* Message: Host -> Servo | * Message: Host -> Servo | ||
** ZGUALL | ** ZUAL --> old: ZGUALL | ||
** | ** ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD | ||
* Message: Servo -> Host | * Message: Servo -> Host | ||
** | ** ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD | ||
=== UID search === | === UID search === | ||
* Message: Host -> Servo | * Message: Host -> Servo | ||
** | ** ZUgK, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa | ||
* Message: Servo -> Host | * Message: Servo -> Host | ||
** K, <offset=0, 4, 8, 12>, <UID part = 4 bytes> | ** K, <offset=0, 4, 8, 12>, <UID part = 4 bytes> | ||
Revision as of 04:43, 22 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
- ZUAL --> old: ZGUALL
- ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
- Message: Servo -> Host
- ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD
UID search
- Message: Host -> Servo
- ZUgK, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
- Message: Servo -> Host
- K, <offset=0, 4, 8, 12>, <UID part = 4 bytes>