CanServo/Protocol/V1.1

CAN Protocol Ver 1.1

• This protocol needs FW Ver 1.12+

• The purpose of this message is to set the servo's ID based on the servo's UID.

• CAN ID
  • 0x7FF : Servo -> Host
  • 0x7FE : Host -> Servo

• Message : Servo -> Host
  • ZUID, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>

• Message: Host -> Servo
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>
  • ZIDS, <UID : 16 byte>, <ID2 : 4 byte>, <ID1 : 1 byte>, <CAN Mode : 1 byte>

• This message is delivered using the MultiPacket method below.

MultiPacket for Long Message

CanServo/Protocol/MultiPacketsforLongMessage

FD-CAN

• FD-CAN allows up to 64 bytes to be transmitted, so up to 63 bytes can be extracted at a time.

• This approach has not yet been implemented.