CanServo/Protocol/V2.1

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CAN Protocol Ver 2.1

• This protocol needs FW Ver 2.3(6), or R1CAN, R2CAN

• All messages below are sent in T-Message format.

• CAN ID
  • 0x7FF : Servo -> Host
  • 0x7FE : Host -> Servo

Write/Read Register's bits by ID or UID

• Message: Host -> Servo
  • ZbWu - Set Register by UID
    • UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
  • ZbRu - Get Register by UID
    • UID (16), N(1), ADDR (2), bit 0.5, bits (0.5)
  • ZbXu - Set/Get Register by UID
  • ZbWi - Set Register by ID
    • ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
  • ZbXi - Set/Get Register by ID
  • ZbRi - Get Register by ID
    • ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5)
• Mesasge: Servo -> Host
  • ZbVu - return register by UID
    • UID (16), N(1), ADDR (2), bit 0.5, bits (0.5), Value (2)
  • ZbVi - return register 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
  • CanServo/Protocol/N1

History

2026_04_03

• add V2.1

T-Message

CanServo/Protocol/T-Message