Difference between revisions of "CanServo/Protocol/V2.1"
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| Line 16: | Line 16: | ||
* Message: Host -> Servo | * Message: Host -> Servo | ||
** ZbWu - Set Register by UID | ** ZbWu - Set Register's bit(s) by UID | ||
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | ||
** ZbRu - Get Register by UID | ** ZbRu - Get Register's bit(s) by UID | ||
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5) | *** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5) | ||
** ZbXu - Set/Get Register by UID | ** ZbXu - Set/Get Register's bit(s) by UID | ||
** ZbWi - Set Register by ID | ** ZbWi - Set Register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | ||
** ZbRi - Get Register by ID | ** ZbRi - Get Register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5) | *** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5) | ||
** ZbXi - Set/Get Register by ID | ** ZbXi - Set/Get Register's bit(s) by ID | ||
* Mesasge: Servo -> Host | * Mesasge: Servo -> Host | ||
** ZbVu - return register by UID | ** ZbVu - return register's bit(s) by UID | ||
*** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | ||
** ZbVi - return register by ID | ** ZbVi - return register's bit(s) by ID | ||
*** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | *** ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2) | ||
Revision as of 03:15, 3 April 2026
Up
- Up page: CanServo/Protocol/0
CAN Protocol Ver 2.1
- This protocol needs FW Ver 2.3(6), or R1CAN, R2CAN
- All messages below are sent in T-Message format.
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
Write/Read Register's bits by ID or UID
- Message: Host -> Servo
- ZbWu - Set Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
- ZbRu - Get Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5)
- ZbXu - Set/Get Register's bit(s) by UID
- ZbWi - Set Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
- ZbRi - Get Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5)
- ZbXi - Set/Get Register's bit(s) by ID
- ZbWu - Set Register's bit(s) by UID
- Mesasge: Servo -> Host
- ZbVu - return register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
- ZbVi - return register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
- ZbVu - return register's bit(s) by UID
- 아래 내용 적용은 미정
- N = Count and Mode
History
2026_04_03
- add V2.1