Difference between revisions of "CanServo/Protocol/V1.6"
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| Line 8: | Line 8: | ||
=== Get Clock List === | === Get Clock List === | ||
* | * Host -> Servo | ||
** ZcGL, ID1(1), ID2(4) | ** Get Clock List | ||
* | *** ZcGL, ID1(1), ID2(4) | ||
** ZrRL, ID1(1), ID2(4), N(1), ClockList(n) | * Servo -> Host | ||
** Return Clock List | |||
*** ZrRL, ID1(1), ID2(4), N(1), ClockList(n) | |||
=== Setup Custom Parameters === | === Setup Custom Parameters === | ||
Revision as of 04:41, 10 June 2025
Custom CAN / CAN-FD baudrate
- if CLK is 0, parameter not valid.
- if fEnable is 1 on boot, servo try Custom Baudrate.
- if fReturn is 1 on boot, servo will wait for "Confirm Custom CAN" message for 'WaitTime' seconds.
Get Clock List
- Host -> Servo
- Get Clock List
- ZcGL, ID1(1), ID2(4)
- Get Clock List
- Servo -> Host
- Return Clock List
- ZrRL, ID1(1), ID2(4), N(1), ClockList(n)
- Return Clock List
Setup Custom Parameters
- Set Custom CAN parameters : Host -> Servo
- ZcSP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2), fEnable(1), fReturn(1)
- Servo: Check CLK with Clock List
- Servo: Auto Send: "Return Custom CAN parameters" message
- Set fEanble of Custom CAN parameters : Host -> Servo
- ZcSE, ID1(1), ID2(4), fEnable(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), WaitTime(2), fEnable(1), fReturn(1)
- NOTE
- WaitTime = mili seconds
Confirm Custom Parameters
- Servo Wait on boot, if fEnable=1 and fReturn=1
- WaitTime 설정동안, Confirm 메시지를 기다림.
- 시간 경과시 fEanble=0, fReturn=0 으로 변경하고 Reset
- Confirm Custom CAN : Host -> Servo
- ZcCP, ID1(1), ID2(4)
- Servo:
- Step 1: Auto Send: "Return of Confirm Custom CAN" message
- Step 2: Change fReturn 1 to 0
- Return of Confirm Custom CAN: Servo -> Host
- ZrRC, ID1(1), ID2(4), fReturn(1)