Difference between revisions of "CanServo/Protocol/0"

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! Protocol
! Protocol
! Section
! Short
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! Long
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| 1.0
| 1.0
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| Yes
| Yes
| No
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| 1.1
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| No
| No
| Yes
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| 1.2
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| Yes
| Yes
| No
| No
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| 1.3
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| No
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| Yes
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| 1.4
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| Yes
| Yes
| Yes
| Yes

Revision as of 06:17, 17 January 2025

Protocol Sections

  • SERVO/PROTOCOL/CAN/V1.0/ENG - V1.0 - w/W, r/R, x/X, v/V
    • Write/Read 1 or 2 register
  • 금지 키워드
    • ZRU1, ZRU2
  • CanServo/Protocol/V1.1 - V1.1 - ZUID, ZIDS, ZGUu, ZGUU, ZRxx, ZSxx, ZXxx, FILE(ZGFL, ZSDF, ZFWU), ZMSG
    • Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
    • Write/Read register's bits by ID or UID
    • FILE Access
    • Message: ZMSG
  • CanServo/Protocol/V1.2 - V1.2 - p/P, g/G, y/Y
    • Write/Read 1 or 2 register with 2 byte address in 1 packet
      • address = max 1024 range (0~1023)
  • CanServo/Protocol/V1.3 - V1.3 - ZUxx(Except ZUID), K
    • Write/Read 1 or 2 register via UID
    • Broadcast UID
    • UID search
  • CanServo/Protocol/V1.4 - V1.4 - sync

Message Types

  • Short - CAN 2.0 - 8 byte data format
  • Long - CAN 2.0 - long message in multi(include single) packet

Protocol / platform

Protocol Section Short Long ST AT G491 RR
1.0 Yes No Yes Yes Yes Yes
1.1 No Yes Yes Yes
1.2 Yes No Yes
1.3 No Yes Yes
1.4 Yes Yes Yes
  • DATE: 2024_11_25, G491 R1CAN
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