Difference between revisions of "CanServo/Protocol/V1.6"
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| Line 30: | Line 30: | ||
** Servo: Auto Send: "Return of Confirm Custom CAN" message, Change fReturn 1 to 0 | ** Servo: Auto Send: "Return of Confirm Custom CAN" message, Change fReturn 1 to 0 | ||
* Return of Confirm Custom CAN: Servo -> Host | * Return of Confirm Custom CAN: Servo -> Host | ||
** | ** ZrCP, ID1(1), ID2(4), fReturn(1) | ||
Revision as of 05:45, 9 June 2025
Custom CAN / CAN-FD baudrate
Get Clock List
- Get Clock List : Host -> Servo
- ZcGL, ID1(1), ID2(4)
- Return Clock List : Servo -> Host
- ZrRL, ID1(1), ID2(4), N(1), ClockList(n)
Setup Custom Parameters
- 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)
- Servo: Check CLK with Valid Clock List
- Servo: Auto Send: "Return Custom CAN parameters" message
- 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
- ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), fEnable(1), fReturn(1)
Confirm Custom Parameters
- Confirm Custom CAN : Host -> Servo
- ZcCP, ID1(1), ID2(4)
- Servo: Auto Send: "Return of Confirm Custom CAN" message, Change fReturn 1 to 0
- Return of Confirm Custom CAN: Servo -> Host
- ZrCP, ID1(1), ID2(4), fReturn(1)