Difference between revisions of "CanServo/Protocol/V1.7"

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** Cali Unlock:
** Cali Unlock:
*** Write Reg 0x72: 40092, 40017, 40069
*** Write Reg 0x72: 40092, 40017, 40069
** Cali Start: Write 0x70, 3848
** Cali Start
** Cali Set Position: ZPST message
*** Write 0x70, 3848
** Cali Set Position
*** ZPST message
** Cali End
** Cali End
*** Write 0x70, 3849
*** Write 0x70, 3849

Revision as of 01:53, 25 September 2025

Pot Calibration

  • Process
    • Cali Unlock:
      • Write Reg 0x72: 40092, 40017, 40069
    • Cali Start
      • Write 0x70, 3848
    • Cali Set Position
      • ZPST message
    • Cali End
      • Write 0x70, 3849
      • wait 1 sec
  • Erase Cali Table
    • Unlock
    • Erase
      • Write 0x70, 3843
      • Wait 100 msec
    • Reset
  • Message
    • Host -> Servo
      • ZPST, ID2 (4), ID1 (1), set position ( 2 byte, signed 16 bits integer, 8192=center, resolution 16384 = 360 deg )
    • Host -> Servo
      • ZPGS, ID2 (4), ID1 (1), start index ( 2 byte ), N ( 2 byte )
        • 서보는 ZPVS 메시지를 보냅니다.
    • Servo -> Host
      • ZPVS, ID2 (4), ID1 (1), start index ( 2 byte ), N ( 2 byte ), Pi ( setted position ), Vi ( position sensor value ), ...
        • 서보는 최대 N개의 데이터를 보냅니다.
          • 주의: 메시지 전송 버퍼의 한계 등을 확인하여 개수를 제한해야 합니다.
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