Difference between revisions of "CanServo/Protocol/V2.1"
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| Line 16: | Line 16: | ||
* Message: Host -> Servo | * Message: Host -> Servo | ||
** ZbWu - | ** ZbWu - Write N 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 - | ** ZbRu - Read N 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 - | ** ZbXu - Write/Read N Register's bit(s) by UID | ||
** ZbWi - | ** ZbWi - Write N 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 - | ** ZbRi - Read N 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 - | ** ZbXi - Write/Read N Register's bit(s) by ID | ||
* Mesasge: Servo -> Host | * Mesasge: Servo -> Host | ||
** ZbVu - return n register's bit(s) by UID | ** ZbVu - return n register's bit(s) by UID | ||
Revision as of 03:56, 3 April 2026
Up
- Up page: CanServo/Protocol/0
CAN Protocol Ver 2.1
- 이 프로토콜은 V1.1 의 Write/Read Register's bit(s) 기능을 대체합니다.
- All messages below are sent in T-Message format.
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
Write/Read N Register's bit(s) by ID or UID
- Message: Host -> Servo
- ZbWu - Write N Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbRu - Read N Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), ...
- ZbXu - Write/Read N Register's bit(s) by UID
- ZbWi - Write N Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbRi - Read N Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), ...
- ZbXi - Write/Read N Register's bit(s) by ID
- ZbWu - Write N Register's bit(s) by UID
- Mesasge: Servo -> Host
- ZbVu - return n register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbVi - return n register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbVu - return n register's bit(s) by UID
- 아래 내용 적용은 미정
- N = Count and Mode
History
2026_04_03
- add V2.1