Difference between revisions of "CanServo/Protocol/V1.9"
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| Line 26: | Line 26: | ||
=== 2026_04_09 === | === 2026_04_09 === | ||
* R1CAN 적용 | * N1 적용, R1CAN 적용 | ||
Revision as of 02:05, 9 April 2026
Up
- Up page: CanServo/Protocol/0
Read PZ
- T-Message only
- 0x7Fx, 혹은 ID2+4+5
- i = 0 to Count-1
- Host -> Servo
- ZZTr, < Target ID2 : 4 byte >, < Target Servo ID : 1 byte >, < N1: 1 byte >, < iIndex : 2 byte >, 반복
- ZZTR, < UID : 16 byte >, < N1: 1 byte >, < iIndex : 2 byte >, 반복
- Servo -> Host
- ZZTv, < Servo ID2 : 4 byte >, < Servo ID1 : 1 byte >, < N1: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
- ZZTV, < UID : 16 byte >, < N1: 1 byte >, < iIndex : 2 byte >, < iC : 1 byte >, < iData: iC byte >, 반복
- N1 = Count and Mode
History
2026_04_09
- N1 적용, R1CAN 적용