CanServo/Protocol/0
Protocol Sections
- SERVO/PROTOCOL/CAN/V1.0/ENG - V1.0 - w/W, r/R, x/X, v/V
- Write/Read 1 or 2 register
- 금지 키워드
- ZRU1, ZRU2
- CanServo/Protocol/V1.1 - V1.1 - ZUID, ZIDS, ZGUu, ZGUU, ZRxx, ZSxx, ZXxx, FILE(ZGFL, ZSDF, ZFWU), ZMSG
- Simple Broadcast UID and Set IDs(ID1,ID2) via UID - ZUID, ZIDS
- Write/Read register's bits by ID or UID
- FILE Access
- Message: ZMSG
- CanServo/Protocol/V1.2 - V1.2 - p/P, g/G, y/Y
- Write/Read 1 or 2 register with 2 byte address in 1 packet
- address = max 1024 range (0~1023)
- Write/Read 1 or 2 register with 2 byte address in 1 packet
- CanServo/Protocol/V1.3 - V1.3 - ZUxx(Except ZUID), K
- Write/Read 1 or 2 register via UID
- Broadcast UID
- UID search
- CanServo/Protocol/V1.4 - V1.4 - sync
Message Types
- Short - CAN 2.0 - 8 byte data format
- Long - CAN 2.0 - long message in multi(include single) packet
- CanServo/Protocol/LongMessage
- added CRC16, if message 8 bytes or more
- added tail (check) byte per packet
Protocol / platform
| Protocol | Section | Short | Long | ST | AT | G491 | RR |
|---|---|---|---|---|---|---|---|
| 1.0 | Yes | No | Yes | Yes | Yes | Yes | |
| 1.1 | No | Yes | Yes | Yes | |||
| 1.2 | Yes | No | Yes | ||||
| 1.3 | No | Yes | Yes | ||||
| 1.4 | Yes | Yes | Yes |
- DATE: 2024_11_25, G491 R1CAN