CanServo/Protocol/V2.1

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CAN Protocol Ver 2.1

• 이 프로토콜은 V1.1 의 Write/Read Register's bit(s) by ID or UID 기능을 대체합니다.

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

• CAN ID = 0x7Fx or ID2+4+5

Write/Read N Register's bit(s) by ID or UID

• Message: Host -> Servo
  • ZbWu - Write N Register's bit(s) by UID
    • UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
  • ZbRu - Read N Register's bit(s) by UID
    • UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
  • ZbXu - Write/Read N Register's bit(s) by UID
  • ZbWi - Write N Register's bit(s) by ID
    • ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
  • ZbRi - Read N Register's bit(s) by ID
    • ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), ...
  • ZbXi - Write/Read N Register's bit(s) by ID
• Mesasge: Servo -> Host
  • ZbVu - return n register's bit(s) by UID
    • UID (16), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...
  • ZbVi - return n register's bit(s) by ID
    • ID2 (4), ID1 (1), N1(1), ADDR (2), bit 0.5, bits (0.5), Value (2), ...

• N1 = Count and Mode
  • CanServo/Protocol/N1

History

2026_04_09

• R1CAN 적용

2026_04_03

• add V2.1

T-Message

CanServo/Protocol/T-Message