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, <Magic Code = 1 byte>, <UID part = 0, 4, 8, 12 bytes> --> OLD: ZGUa
- Magic Code
- bit 5:0 = magic key
- bit 7:6 = id type
- 0 = ID ng ( ID1 = 0 or ID2 = 0 )
- 1 = ID ok ( ID1 != 0 and ID2 != 0 )
- 2/3 = all
- Message: Servo -> Host
- K, <Magic Code = 1 byte>, <UID part = 4 bytes>
Long Message
CanServo/Protocol/LongMessage