CanServo/Protocol/0

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
• CanServo/Protocol/V1.5 - V1.5 - ZKWx, ZKRx, ZKXx, ZKVx
  • Write/Read N register(s)

Message Types

• Short - single packet - CAN ID = Servo's ID2 or 0
• Long - multi or single packet - CAN ID = 0x7FF, 0x7FE
  • CanServo/Protocol/LongMessage
• CAN-FD - multi or single packet - CAN ID = 0x7FF or 0x7FE, and Servo ID2 + 1

Section / platform

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