Difference between revisions of "CanServo/Protocol/V1.5"
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| Line 25: | Line 25: | ||
* N bit 7:6 | * N bit 7:6 | ||
** Host -> Servo | ** Host -> Servo | ||
*** 0 = 설정된 룰대로 반응하라 | *** 0 = 설정된 룰대로 반응하라 ( active only, 혹은 모두 반응 설정에 따라라 ) | ||
*** 1 = active only | *** 1 = active only | ||
*** 2 = inactive only | *** 2 = inactive only | ||
Revision as of 03:17, 20 March 2026
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- Up page: CanServo/Protocol/0
CAN Protocol Ver 1.5
- CAN Protocol Ver 1.2 의 확장판입니다.
Write/Read Register(s)
- Message: Host -> Servo, i = 0 ~ N-1
- ZKW1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
- ZKW2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- ZKR1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >
- ZKR2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >
- ZKX1, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
- ZKX2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- Message : Servo -> Host, i = 0 ~ N-1
- ZKV1, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
- ZKV2, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
- N가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.
- N bit 7:6
- Host -> Servo
- 0 = 설정된 룰대로 반응하라 ( active only, 혹은 모두 반응 설정에 따라라 )
- 1 = active only
- 2 = inactive only
- 3 = MCU 1/2
- Servo -> Host
- 0 = active
- 1 = inactive
- 2 = MCU 1
- 3 = MCU 2
- Host -> Servo