Difference between revisions of "CanServo/Protocol/V1.5"
Jump to navigation
Jump to search
| Line 4: | Line 4: | ||
* All messages below are sent in long format. | * All messages below are sent in long format. | ||
== Write/Read Register(s) == | == Write/Read Register(s) == | ||
Revision as of 06:40, 18 February 2025
CAN Protocol Ver 1.5
- CAN Protocol Ver 1.2 의 확장판입니다.
- All messages below are sent in long format.
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ N-1
- ZKW, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- ZKR, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >
- ZKX, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- Message : Servo -> Host, i = 0 ~ N-1
- ZKV, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- N가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.