Difference between revisions of "CanServo/Protocol/V1.5"
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** ZKX2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ** ZKX2, <Target Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ||
* Message : Servo -> Host, i = 0 ~ | * Message : Servo -> Host, i = 0 ~ Count-1 | ||
** ZKV1, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte > | ** 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 > | ** ZKV2, <Servo ID: 1 byte>, <N: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte > | ||
* | * Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다. | ||
* Count = N bit 5:0 = 0-63 | * Count = N bit 5:0 = 0-63 | ||
Revision as of 03:19, 20 March 2026
Up
- 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 ~ Count-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 >
- Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.
- Count = N bit 5:0 = 0-63
- N bit 7:6
- Host -> Servo
- 0 = normal ( 설정대로 반응: active only, 혹은 모두 반응 설정에 따라 )
- 1 = active only
- 2 = inactive only
- 3 = MCU 1/2
- Servo -> Host
- 0 = active
- 1 = inactive
- 2 = MCU 1
- 3 = MCU 2
- Host -> Servo