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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 bits by ID or UID
- Message: Host -> Servo
- ZbWu - Set N Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbRu - Get N Register's bit(s) by UID
- UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), ...
- ZbXu - Set/Get N Register's bit(s) by UID
- ZbWi - Set N Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
- ZbRi - Get N Register's bit(s) by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), ...
- ZbXi - Set/Get N Register's bit(s) by ID
- 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), ...
- 아래 내용 적용은 미정
- N = Count and Mode
History
2026_04_03
T-Message
CanServo/Protocol/T-Message