Difference between revisions of "CanServo/Protocol/V1.6"
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Tag: Manual revert |
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| Line 8: | Line 8: | ||
* Set Custom CAN parameters : Host -> Servo | * Set Custom CAN parameters : Host -> Servo | ||
** ZcSP, ID1(1), ID2(4), fSave(1), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1) | ** ZcSP, ID1(1), ID2(4), fSave(1), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1) | ||
* Set fEanble of Custom CAN parameters : Host -> Servo | |||
** ZcSE, ID1(1), ID2(4), fSave(1), fEnable(1) | |||
* Set fReturn of Custom CAN parameters : Host -> Servo | |||
** ZcSR, ID1(1), ID2(4), fSave(1), fReturn(1) | |||
* Get Custom CAN parameters : Host -> Servo | * Get Custom CAN parameters : Host -> Servo | ||
** ZcGP, ID1(1), ID2(4) | ** ZcGP, ID1(1), ID2(4) | ||
| Line 16: | Line 20: | ||
* Return of Confirm Custom CAN : Servo -> Host: CAN long format | * Return of Confirm Custom CAN : Servo -> Host: CAN long format | ||
** ZcRC, ID1(1), ID2(4), fReturn_1to0(1) | ** ZcRC, ID1(1), ID2(4), fReturn_1to0(1) | ||
Revision as of 03:20, 9 June 2025
Custom CAN / CAN-FD
- Get Clock List : Host -> Servo
- ZcGL, ID1(1), ID2(4)
- Return Clock List : Servo -> Host
- ZcRL, ID1(1), ID2(4), N(1), ClockList(n)
- Set Custom CAN parameters : Host -> Servo
- ZcSP, ID1(1), ID2(4), fSave(1), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
- Set fEanble of Custom CAN parameters : Host -> Servo
- ZcSE, ID1(1), ID2(4), fSave(1), fEnable(1)
- Set fReturn of Custom CAN parameters : Host -> Servo
- ZcSR, ID1(1), ID2(4), fSave(1), fReturn(1)
- Get Custom CAN parameters : Host -> Servo
- ZcGP, ID1(1), ID2(4)
- Return Custom CAN parameters : Servo -> Host
- ZcRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
- Confirm Custom CAN : Host -> Servo : 서보는 Return 메시지를 보냅니다. fReturn=1이면 0으로 만들고 저장합니다.
- ZcCP, ID1(1), ID2(4)
- Return of Confirm Custom CAN : Servo -> Host: CAN long format
- ZcRC, ID1(1), ID2(4), fReturn_1to0(1)