CanServo/Protocol/V2.1
Revision as of 03:15, 3 April 2026 by Choiyh (talk | contribs) (→Write/Read Register's bits by ID or UID)
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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)
- ZbRi - Get Register by ID
- ID2 (4), ID1 (1), N(1), ADDR (2), bit 0.5, bits (0.5)
- ZbXi - Set/Get Register by ID
- ZbWu - Set Register by UID
- 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)
- ZbVu - return register by UID
- 아래 내용 적용은 미정
- N = Count and Mode
History
2026_04_03
- add V2.1