Difference between revisions of "CanServo/Protocol/V1.9"
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| Line 8: | Line 8: | ||
* 0x7Fx, 혹은 ID2+4+5 | * 0x7Fx, 혹은 ID2+4+5 | ||
* i = 0 - | * i = 0 - Count-1 | ||
* Host -> Servo | * Host -> Servo | ||
| Line 17: | Line 17: | ||
** ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, < iData: iCount byte >, 반복 | ** ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, < iData: iCount byte >, 반복 | ||
** ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, < iData: iCount byte >, 반복 | ** ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, < iData: iCount byte >, 반복 | ||
* 아래 내용 적용은 미정 | |||
* Count = N bit 5:0 = 0 - 63 | |||
* N bit 7:6 | |||
** [[CanServo/Protocol/N1]] | |||
Revision as of 03:55, 20 March 2026
Up
- Up page: CanServo/Protocol/0
Read PZ
- T-Message only
- 0x7Fx, 혹은 ID2+4+5
- i = 0 - Count-1
- Host -> Servo
- ZZTr, < Target Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, 반복
- ZZTR, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, 반복
- Servo -> Host
- ZZTv, < Servo ID : 1 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, < iData: iCount byte >, 반복
- ZZTV, < UID : 16 byte >, < N: 1 byte >, < iIndex : 2 byte >, < iCount : 1 byte >, < iData: iCount byte >, 반복
- 아래 내용 적용은 미정
- Count = N bit 5:0 = 0 - 63
- N bit 7:6