CanServo/Protocol/V2.2

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CAN Protocol Ver 2.2

  • CAN Protocol Ver 1.2 -> 1.5 -> 2.2

Write/Read Register(s)

  • Message: Host -> Servo, i = 0 ~ Count-1
    • ZkW1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZkW2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
    • ZkR1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >
    • ZkR2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >
    • ZkX1, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZkX2, <Target Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
  • Message : Servo -> Host, i = 0 ~ Count-1
    • ZkV1, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 1 byte >, < DATAi : 2 byte >
    • ZkV2, <Servo ID: 1 byte>, <N1: 1 byte>, < ADDRi : 2 byte >, < DATAi : 2 byte >
  • Count가 커지면 나열되는 ADDRi, DATAi 의 개수가 늘어납니다.
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