Difference between revisions of "CanServo/Protocol/V1.1"

Revision as of 06:30, 2 April 2025

Message : Servo -> Host
- ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
- This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.

Message: Host -> Servo
- ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
- ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
- ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
- The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.

Message: Host -> Servo
- ZGUu - Get UID
  - ID2 (4), ID1 (1)
- ZSUU,ZXUU - Set Register by UID, ( ZXUU -> Set,Get )
  - UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZGUU - Get Register by UID
  - UID (16), ADDR (1), bit 0.5, bits (0.5)
- ZSID,ZXID - Set Register by ID ( ZXID -> Set,Get )
  - ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZGID - Get Register by ID
  - ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5)
Mesasge: Servo -> Host
- ZRUU - return register by UID
  - UID (16), ADDR (1), bit 0.5, bits (0.5), Value (2)
- ZRID - return register by ID
  - ID2 (4), ID1 (1), ADDR (1), bit 0.5, bits (0.5), Value (2)

@@ Line 11: / Line 11: @@
 * Message : Servo -> Host
 ** ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
-** 이 메시지는 서보 설정 ID1, ID2 중에 하나라도 0 이면 서보가 주기적으로 발신합니다.
+** This message is sent periodically by the servo if either servo setting ID1 or ID2 is 0.
 * Message: Host -> Servo
@@ Line 17: / Line 17: @@
 ** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
 ** ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>
-** UID 가 일치하는 서보는, 메시지의 길이에 따라, ID2, ID1, CAN Mode 까지 설정합니다.
+** The servo with matching UID sets ID2, ID1, and CAN Mode depending on the length of the message.
 * This message is delivered using the MultiPacket method below.