CanServo/Protocol/V1.6

Custom CAN / CAN-FD baudrate

• if CLK is 0, parameter not valid.
• if fEnable is 1 on boot, servo try Custom Baudrate.
• if fReturn is 1 on boot, servo will wait for "Confirm Custom CAN" message for 'WaitTime'.

Get Clock List

• Host -> Servo
  • Get Clock List
    • ZcGL, ID1(1), ID2(4)
• Servo -> Host
  • Return Clock List
    • ZrRL, ID1(1), ID2(4), N(1), ClockList(n)

Setup Custom Parameters

• Host -> Servo
  • Set Custom CAN parameters
    • ZcSP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2), fEnable(1), fReturn(1)
    • Servo: Check CLK with Clock List
    • Servo: Auto Send: "Return Custom CAN parameters" message
  • Set fEanble of Custom CAN parameters
    • ZcSE, ID1(1), ID2(4), fEnable(1)
  • Get Custom CAN parameters
    • ZcGP, ID1(1), ID2(4)
• Servo -> Host
  • Return Custom CAN parameters
    • ZrRP, ID1(1), ID2(4), CLK(1), Npre(1), NQ1(1), NQ2(1), Dpre(1), DQ1(1), DQ2(1), WaitTime(2), fEnable(1), fReturn(1)

• NOTE
  • WaitTime = mili seconds

Confirm Custom Parameters

• Servo Wait on boot, if fEnable=1 and fReturn=1
  • WaitTime 설정동안, Confirm 메시지를 기다림.
  • 시간 경과시 fEanble=0, fReturn=0 으로 변경하고 Reset

• Host -> Servo
  • Confirm Custom CAN
    • ZcCP, ID1(1), ID2(4)
    • Servo:
      • Step 1: Auto Send: "Return of Confirm Custom CAN" message
      • Step 2: Change fReturn 1 to 0
• Servo -> Host
  • Return of Confirm Custom CAN
    • ZrRC, ID1(1), ID2(4), fReturn(1)