CAN Protocol Ver 1.3
- All messages below are sent in long format.
- CAN ID
- 0x7FF : Servo -> Host
- 0x7FE : Host -> Servo
Write/Read Register
- Message: Host -> Servo
- ZUW1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUW2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUX1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUX2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
- ZUR1, < UID : 16 byte >, < ADDR : 2 byte >
- ZUR2, < UID : 16 byte >, < ADDR1 : 2 byte >, < ADDR2 : 2 byte >
- Message : Servo -> Host
- ZUV1, < UID : 16 byte >, < ADDR : 2 byte >, < DATA : 2 byte >
- ZUV2, < UID : 16 byte >, < ADDR1 : 2 byte >, < DATA1 : 2 byte >, < ADDR2 : 2 byte >, < DATA2 : 2 byte >
Broadcast UID
- Message: Host -> Servo
- ZUAL --> old: ZGUALL
- ZUGD, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZGUD
- ID2 = 0 이면, All
- ID1 = 0 이면, All
- Message: Servo -> Host
- ZUVD, < UID : 16 byte >, < ID2 : 4 byte >, < ID1 : 1 byte > --> OLD: ZVUD
UID search
- Message: Host -> Servo
- ZUgK, <1 byte, bit 6:0 = magic, bit 7 = 1(ID=0 only), 0(all) >, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
- Message: Servo -> Host
- K, <1 byte, bit 6:0 = maginc, bit 7 = 1(if ID=0), 0(else)>, <UID part = 4 bytes>
- ID = 0 means: ID1 = 0 or ID2 = 0
Long Message
CanServo/Protocol/LongMessage