RoboBuilder wCK series User Manual Download

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User’s Manual

v1.07

wCK series

Joints are grouped as below according to different points of connecting junction.

Junction Point

JOINT

Pentagon-shaped Junction

Axis Junction

Pentagon-shaped Junction

Body Junction

Axis Junction

Body Junction

Axis Junction

Others

[Figure 2-1c] Joint Type for Different Connection

JOINT 1

JOINT 2

JOINT 3

JOINT 4

JOINT 5

JOINT 7

JOINT 9

JOINT 10

JOINT 8

JOINT 6

JOINT 11

JOINT 12

Summary of Contents for wCK series

Page 1: ...wCK series User s Manual Intelligent Modular Robot Ver 1 07 ...

Page 2: ...ftware p25 3 CONTROL FUNCTIONS p26 3 1PositionControl p27 3 2SynchronizedPositionControl p29 3 3PassiveMode p30 3 4Speed AccelerationSetting p30 3 5MovementBoundarySetting p30 3 6Reverse voltageProtection p30 3 7Over currentProtection p30 3 8WheelMode p30 3 9BreakMode p30 3 10ExternalI OPort p31 3 11Self runningMotion p32 3 12InitializationofwCKIDand Baudrate p33 A APPENDIX p34 A 1CommunicationPro...

Page 3: ...rnallyacontrolboardandaservoactuator mechanismareintegrated together within the small plastic enclosure The wCK module itself can operate as a small independent robot system because it is equippedwithexternalI Oportsandcanrunaself running motionprogram ThewCK module adoptaPID motioncontroltechnology andrealizedmotioncontrolcharacteristicsaspreciseandaccurateasindustrialservomotors Userscandesignan...

Page 4: ...4 71 User s Manual v1 07 wCK series 1 2 Model Listing Theseriesname wCK comesfromthesound Wingchick thattheactuatormodulemakeswheninmotion Figure1 2a ModelNameScheme Figure1 2b ModelListings ...

Page 5: ...eMaterial EngineeringPlastic GearMaterial POM wCK 1108 POM Metal wCK 1111 1413 Size 51 6mm 27 1mm 36 4mm Weight 45g wCK 1108 49g wCK 1111 1413 1 4 Main Features All in OneIntegratedRobotModule Allcomponentssuchasthecontroller thesensor theactuator andtheI Oportareintegratedinasmallplasticenclosure CompactDesign Compactandelegantexteriordesignwithsmoothcurvedlinesenhancesitsfunctionalityaswellashel...

Page 6: ...ommunication The Full Duplex UART two way serial communication enables to connect to wCK directly without using separate communication devicefromexternalcontroller ControlOptimizedProtocol Minimizedcommunicationtimedelaybyadoptingoptimizedprotocolstructureandreal timeresponsemethodforallcommands ExternalI OPort 1channelA Dinput 0V 5V 2channelsDigitalOutput TTLlevel Self runningMotion wCKcanrunamot...

Page 7: ...ecanbeinitializedfordebuggingortroubleshootingpurpose TwoMetalBearingsforMechanicalDurability Mechanicaldurabilityisensuredwithtwometalbearingsappliedontherotationaxis 1 5 Control Scheme wCK module can be controlled by RoboBuilder s RBC controller general puupose MCUs as well as directly by a PC The RBC controller can be used to connect the PC to the wCK modules as the RBC controller has circuitry...

Page 8: ...nment game and amusement commercial and educational purposes It can also be used for systems that require multi axis movement such as medical devices tool sets for science and education etc The self running motion of the wCK module helps to build a simple and compactstandalonesystemtoo Figure1 5b Usinggeneral purposeMCU Figure1 5c DirectPCControlwithoutexternalcontroller ...

Page 9: ...9 71 User s Manual v1 07 wCK series Figure1 6a Application VariousArticulatedRobots ...

Page 10: ...telligentwCKrobotmodule 2 1EA RoundJoint TransmitforceofwCKmoduletoexternalobject 3 1EA wCKCable 4wiretwisted WiringcableforwCKmodule 4 4EA Bolt1 M2 40mm FixwCKmoduleontoexternalobject 5 4EA Nut M2 FixwCKmoduleontoexternalobject 6 1EA Bolt2 M2 8mm FixroundjointtotheaxisofwCKmodule Figure1 7a PartList ...

Page 11: ...sembly MechanicalConnectionPoint 3JunctionPoints pentagon shapedJunction AxisJunction BodyJunction Joint VariousRobotStructurecanbecreatedusing12typesconnectionJoints GearRatio 1 173 wCK 1108 1 241 wCK 1111 1413 GearMaterial POM wCK 1108 POM Metal wCK 1111 1413 CaseMaterial EngineeringPlastic CaseColor Black wCK 1108K 1111K 1413K Transparent wCK 1108T cf MaxStallTorque StallTorqueofbuilt inDCmotor...

Page 12: ...12 71 User s Manual v1 07 wCK series Figure1 8c BlowUpPicture Figure1 8b Dimension ...

Page 13: ...Mode PositionControl SpeedControl TorqueControl ControlAngle 0 254 StandardResolution 0 1 022 HighResolution OperationAngle 0 269 StandardResolution 0 333 HighResolution Resolution 8bit 1 055 StandardResolution 10bit 0 325 HighResolution UnitControlAngle 269 255 1 055 StandardResolution 333 1023 0 325 HighResolution ControlError 0 8 8bitStandardResolution Pgain 1 120recommended Dgain 0 254recommen...

Page 14: ...ing a joint with the wCK modulethejunctionisheldtightevenwithoutscrewingbolts whichisveryeffectiveandhelpfulforuserstoinventcreativestructuresin designinganewroboticsystem JOINT1 JOINT 2 JOINT3 JOINT4 JOINT5 JOINT6 JOINT7 JOINT8 JOINT9 JOINT10 JOINT11 JOINT12 Figure 2 1a JointConnectionScheme Figure 2 1b JointType Jointsoldseparatelyasoption ...

Page 15: ...onPoint JOINT Pentagon shapedJunction AxisJunction Pentagon shapedJunction BodyJunction AxisJunction BodyJunction BodyJunction BodyJunction AxisJunction AxisJunction Others Figure2 1c JointTypeforDifferentConnection JOINT 1 JOINT 2 JOINT 3 JOINT 4 JOINT 5 JOINT 7 JOINT 9 JOINT 10 JOINT 8 JOINT 6 JOINT 11 JOINT 12 ...

Page 16: ...16 71 User s Manual v1 07 wCK series Figure2 1d JointTypeforConnectionStyles JOINT 1 JOINT 2 JOINT 3 ...

Page 17: ...17 71 User s Manual v1 07 wCK series JOINT 4 JOINT 5 JOINT 6 ...

Page 18: ...18 71 User s Manual v1 07 wCK series JOINT 7 JOINT 8 JOINT 9 ...

Page 19: ...19 71 User s Manual v1 07 wCK series JOINT 10 JOINT 12 JOINT 11 ...

Page 20: ...structureisdifferentasshowninbelow Figure2 1a and Figure2 2b Figure2 2a UsingaMICOM Figure2 2b UsingaPC Figure2 2d PCConnectionCable Figure2 2c wCKmodulecable MiCOM TXD RXD When using a MICOM it s connected directly to TXD RXD lines PC TXD RXD 232Board When using a PC it is connected through 232board to TDX RXD lines ...

Page 21: ...orsareelectricallyconnectedinparallelsothe module is ready to communicate if either one of the two connectors are plugged The other one is used to extend to another wCK module TheconnectorsatbothendsofawCKmodulecablearepolarized whicheliminatestheriskofmakingawiringmistake Figure2 2e wCKmoduleCableConnector PinArrangement ...

Page 22: ...ommunication protocol named Multi drop Full Duplex UART two way serial communicationprotocol BasicallythecommunicationiscarriedoutinarepeatedcycleofthatControllersendsaCommandPacketto thewCKmoduleandthenthewCKmodulesendsbackaResponsePacketinreturn Figure2 3a Communication Figure2 3b ProtocolStructure ...

Page 23: ...ainRead ReadPgainandDgain 10 IgainSet IgainSettingCommand 11 IgainRead ReadIgain 12 RuntimeP DgainSet RuntimePgain DgainSettingCommand 13 RuntimeIgainSet RuntimeIgainSettingCommand 14 IDSet wCK IDSettingCommand 15 SpeedSet Speed AccelerationrangeSettingCommand 16 SpeedRead ReadSpeed Accelerationrange 17 RuntimeSpeedSet RuntimeSpeed AccelerationrangeSettingCommand 18 OverLoad Set OverLoadSettingCom...

Page 24: ...recise control characteristicspleaserefertobelowtableanduseittodesignthesystemaccordingly CommandResponseTime The table below shows the Command Response Time at different baud rates Command Response Time is the amount of time it takes forawCKmodulefromsendingaCommandPackettoreceivingitsResponsePacket BaudRate bps 1ByteTransmissionTime 1Command 4byte TransmissionTime 1CommandDelayTimeat30 rpm ﾟ 4 8...

Page 25: ...115200 bps PositionMove 13159 7083 2517 1354 1180 PositionRead 13159 7083 2517 1354 1180 PassivewCK 13159 7083 2517 1354 1180 BreakwCK 13159 7083 2517 1354 1180 WheelwCK 13159 7083 2517 1354 1180 ReadGain 17326 9166 3038 1701 1354 ReadResolution 17326 9166 3038 1701 1354 ReadLoadRange 17326 9166 3038 1701 1354 ReadBoundary 17326 9166 3038 1701 1354 BaudRateSet 136144 127950 122829 121492 121145 Ga...

Page 26: ...26 71 User s Manual v1 07 wCK series Figure2 4a wCKProgrammerScreenLayout Figure2 4b Setting ProgrammingArea ...

Page 27: ...t position angle The Unit Angle is the physical displacement of rotationanglecausedbyexecutingasingleunitofControlAngle ControlAngle 0 254 StandardResolution 0 1 022 HighResolution MovementAngle 0 269 StandardResolution 0 333 HighResolution UnitAngle 269 255 1 055 StandardResolution 333 1023 0 325 HighResolution ControlError 0 8 StandardResolution The full Movement Angle illustrated above can be u...

Page 28: ...ual v1 07 wCK series Below are the response characteristics graphs that show the different response characteristics of wCK module when each method of P gainControl PDgainControl andPIDgainControlisapplied PgainControl ...

Page 29: ...29 71 User s Manual v1 07 wCK series PDgainControl PIDgainControl ...

Page 30: ...rationrange from20to100 ofawCKmodule 3 5 Movement Boundary Setting The user can set the movement boundary range of a wCK so that the wCK can only move within a specified range of rotation angles Thisfunctionisusefulforapplicationsthatrequiresamotioninanarrowrangeofmovementangleiscritical 3 6 Reverse voltage Protection ThewCKmodulehasbuilt inreverse voltageprotectiontoprotectfromuser swiringmistake...

Page 31: ...d a system s mechanical structure still without consuming electrical powerbyusingdynamicbreakeffect Oncebreakmodeapplied allwCKmodulesconnectedonasinglechannelturnintoBreakMode 3 10 External I O Port wCKmodulehas1channelofA Dinput 0V 5V and2channelsofDigitalOutput TTLlevel Figure3 10 ExternalI OPort PinArrangement ...

Page 32: ...CommandPacket MotionCommand 1Byte MotionData 1Byte MainInstruction SubInstruction Data 0 None 0 X 1 PositionControl Speed 0 4 8bitPositionValue 2 MotionType 1 Passive 2 PowerDown 3 WheelCCW 4 WheelCW TheSpeedvalueinWheelMode 0 15 3 DelayTime Max4 095ms Upper4bitdelayvalue Lower8bitdelayvalue inms 4 DIO X 2bitexternalportoutputvalue 5 PositionConditionalDecision 1 2 3 4 5 8bitPositionValue 6 A DCon...

Page 33: ... or a situation when they have to initialize the ID and baud rate of the wCK module either by mistake or because of a product fault Remove the cover of external I O port first and use tweezers to apply electric current between point A and point B for more than 10 seconds then the ID and baud rate will be initialized defaultinitialvalues ID 0 Baudrate 115 200 ...

Page 34: ...position CommandPacket Header 0xFF Data1 Torque ID 7 6 5 4 3 2 1 0 Tor q 0 Max 4 Min ID 0 30 Targetposition 0 254 Checksum Data1XORTargetposition AND0x7F ResponsePacket Load 0 254 Position 0 254 e g CommandawCKmodulewithID0tomovetotargetposition0x7F 127 attorque0 yCommandPacket 1byte 1byte 1byte 1byte 0xFF 0x00 0x7F 0x7F yResponsePacket 1byte 1byte Load Position 1byte 1byte 1byte 1byte Header Data...

Page 35: ...le sID 1 ID x target 0 254 targetpositionofwCKmodulewithIDx LastIDtarget 0 254 targetpositionofwCKmodulewithLastID Checksum ID0targetXOR byte LASTID 3 AND0x7F ResponsePacket None e g CommandwCKmoduleswithID0andID1tomovesimultaneouslytotargetposition0x7F 127 attorque0 Max y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0x1F 0x02 0x7F 0x7F 0x00 y ResponsePacket None 3 StatusRead StatusRead ...

Page 36: ... Load 0 254 Position 0 254 e g CommandawCKmodulewithID0toreaditsstatus y CommandPacket 1byte 1byte 1byte 1byte 0xFF 0xA0 0x00 0x20 y ResponsePacket 1byte 1byte Load Position 4 PassivewCK PassivewCK commandmakesawCKmodulereturnthevalueofcurrentpositionandreleasetorquefromtherotationaxissothatit canbemovedfreelybyexternalforce CommandPacket 1byte 1byte 1byte 1byte Header Data1 Data2 Checksum Header ...

Page 37: ...a2 Position Position 0 254 e g CommandawCKmodulewithID0toturnintoPassivewCKmode y CommandPacket 1byte 1byte 1byte 1byte 0xFF 0xC0 0x10 0x50 y ResponsePacket 1byte 1byte 0x10 Position 5 WheelwCK WheelwCK commandmakesawCKmodulecarryout360ﾟrevolvingmotion 16differentspeedlevelsareselectable CommandPacket 1byte 1byte 1byte 1byte Header Data1 Data2 Checksum Header 0xFF Data1 Mode 6 ID 7 6 5 4 3 2 1 0 ...

Page 38: ...toCCWdirectionatspeedlevel15 y CommandPacket 1byte 1byte 1byte 1byte 0xFF 0xC0 0x3F 0x7F y ResponsePacket 1byte 1byte 회전수 Position 6 BreakwCK BreakwCK commandmakeallwCKmodulesconnectedononechanneltoturnintoBreakMode BreakModestopsthemotionof awCKmoduleandthushelpholdstillasystem smechanicalstructurewithoutconsumingelectricpowerbyusingdynamicbreak In thismode therotationaxisbecomestiffandhardtomove...

Page 39: ...eakmode y CommandPacket 1byte 1byte 1byte 1byte 0xFF 0xDF 0x20 0x7F y ResponsePacket 1byte 1byte 0x00 Position A 1 2SetCommand 7 BaudrateSet BaudrateSet commandsetsthecommunicationbaudrateofawCKmodule Supportedbaudratesare4800bps 9600bps 38400 bps 57600bps 115200bps 230400bps 460800bps 921600bps CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF D...

Page 40: ...rate 0 191 e g SetthebaudrateofawCKmodulewithID0to115200bps y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x08 0x07 0x07 0x68 y ResponsePacket 1byte 1byte 0x03 0x03 8 P DgainSet P DgainSet commandsetsthePgainandDgainofawCKmodule It srecommendedthatusersetPgainandDgainaccordingto theformulaofPgain 1 5 Dgain CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 D...

Page 41: ...ithID0 Pgain 100 Dgain 100 y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x09 0x64 0x64 0x69 y ResponsePacket 1byte 1byte 0x64 0x64 9 P DgainRead P DgainRead commandmakesawCKmodulereadthevaluesofPgainandDgain CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x0A Data3 Arbitrary...

Page 42: ...x00 0x00 0x6A y ResponsePacket 1byte 1byte P gain D gain 10 IgainSet IgainSet commandsetstheIgainofawCKmodule CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 I D 0 30 Data2 0x15 Data3 newIgain 0 10recommended Data4 Data3 Checksum Data1XORData2XORData3XORData4 AND0x7F ResponsePacket 1byte 1byte newIgain new...

Page 43: ...dulereadthevalueofIgain CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x16 Data3 ArbitraryValue Data4 Data3 Checksum Data1XORData2XORData3XORData4 AND0x7F ResponsePacket 1byte 1byte I gain I gain I gain 0 10 e g CommandawCKmodulewithID0toreaditsIgain y CommandPacket 1byte 1byte 1byte 1byte ...

Page 44: ...byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x0B Data3 1 254recommended P gain Data4 0 254recommended D gain Checksum Data1XORData2XORData3XORData4 AND0x7F ResponsePacket 1byte 1byte Pgain Dgain Pgain 1 254 Dgain 0 254 e g SettheruntimePgainandDgainofawCKmodulewithID0 Pgain 100 Dgain 100 y CommandPacket 1byte 1byte 1byte 1byte...

Page 45: ...yte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x18 Data3 I gain 0 10recommended Data4 Data3 Checksum Data1XORData2XORData3XORData4 AND0x7F ResponsePacket 1byte 1byte Igain Igain Igain 0 10 e g SettheruntimeIgainofawCKmodulewithIDto4 y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x18 0x04 0x04 0x78 y ResponsePacket...

Page 46: ...ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x0C Data3 newID 0 254 Data4 Data3 Checksum Data1XORData2XORData3XORData4 AND0x7F ResponsePacket 1byte 1byte newID newID new ID 0 254 e g SettheIDofawCKmodulewithID0to30 y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x0C 0x1E 0x1E 0x6C y ResponsePacket 1byte 1byte 0x1E 0x1E 15 SpeedSet SpeedSet commandsetsthespeedandaccelerationrangeofawCKmod...

Page 47: ...ata2XORData3XORData4 AND0x7F ResponsePacket 1byte 1byte newspeed newaccel newspeed 0 30 newaccel 20 100 e g SetthespeedandaccelerationrangeofawCKmodulewithID0 Speed 30 Accel 100 y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x0D 0x1E 0x64 0x1D y ResponsePacket 1byte 1byte 0x1E 0x64 16 SpeedRead SpeedRead commandmakesawCKmoduletoreadvaluesofitsspeedandaccelerationrange CommandPacket...

Page 48: ...speed 0 30 accel 20 100 e g CommandawCKmodulewithID0toreaditsspeedandaccelerationrange y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x0E 0x00 0x00 0x6E y ResponsePacket 1byte 1byte Speed Accel 17 RuntimeSpeedSet RuntimeSpeedSet commandsetstheruntimespeedandaccelerationrangeofawCKmodule CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header...

Page 49: ...et 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x17 0x1E 0x64 0x0D y ResponsePacket None 18 OverLoadSet OverLoadSet commandsetstheoverloadboundaryofawCKmodule caution IfawCKmoduledetectoverloadstatus itautomaticallyturnsintoPassivewCKmode CommandPacket Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mod e 7 ID 0 30 Data2 0x0F Data3 33 199 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 ...

Page 50: ...hID0to104 actualcurrentis1000mA y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x0F 0x68 0x68 0x6F y ResponsePacket 1byte 1byte 0x68 0x68 19 OverLoadRead OverLoadRead commandmakesawCKmoduletoreadthevalueofitsoverloadboundary CommandPacket 4 68 700 5 80 800 6 92 900 7 104 1000 8 116 1100 9 128 1200 10 199 1800 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksu...

Page 51: ...verload overload 33 199 e g CommandawCKmodulewithID0toreaditsoverload y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x10 0x00 0x00 0x70 y ResponsePacket 1byte 1byte OverLoad OverLoad 20 BoundarySet BoundarySet commandsetstherotationmovementboundaryofawCKmodule CommandPacket Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 D...

Page 52: ...0 y CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 0xFF 0xE0 0x11 0x64 0x32 0x20 y ResponsePacket 1byte 1byte 0x64 0x32 21 BoundaryRead BoundaryRead commandmakeawCKmoduletoreadthevalueofitsmovementboundary CommandPacket Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x12 Data3 ArbitraryValue Data4 Data3 Checksum Data1XORData2XORData3XORData4 AND0x7F 1byte 1byte NewLower Bounda...

Page 53: ...0x72 y ResponsePacket 1byte 1byte LowerBoundary UpperBoundary A 1 3ExtendedCommand 22 I OWrite I OWrite commandmakesawCKmoduletowritetotheD O DigitalOutput port CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x64 Data3 ArbitraryValue CH 7 6 5 4 3 2 1 0 bit0 D O1 outputvalue bit1 D O2outputva...

Page 54: ...E0 0x64 0x03 0x03 0x04 y ResponsePacket 1byte 1byte 0x03 0x03 23 I ORead I ORead commandmakeawCKmoduletoreadtheI Odatafromexternalport CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x65 Data3 ArbitraryValue Data4 Data3 Checksum Data1XORData2XORData3XORData4 AND0x7F ResponsePacket 1byte 1byt...

Page 55: ...ataWrite commandisusedtosetaself runningmotionprogramtoawCKmodule Referto 3 11Self runningMotion forprogramminglogics CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 MotionCount Motion commandX Motion DataX Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x96 MotionCount 0 8 MotioncommandX 0 254 Motiondata X 0 254 Checksum byte2XORbyte3XOR byten...

Page 56: ...2 0x31 0x0A 0x10 0xAC 0x31 0x0a 0x0c y ResponsePacket 1byte 1byte 0x04 0x04 25 MotionDataRead MotionDataRead commandmakeawCKmoduletoreadthenumberofinstructionlinesofaself runningmotionprogram CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ID 7 6 5 4 3 2 1 0 Mode 7 ID 0 30 Data2 0x97 Data3 ArbitraryValue Data4 Data3 Checksum Data1X...

Page 57: ...nd makeswCK modulereturnthevalueofcurrentpositiontocontrollerandthen movetoaspecifiedtargetposition CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Data5 Data6 Checksum Header 0xFF Data1 Mode 7 ArbitraryValue 7 6 5 4 3 2 1 0 Mode 7 Data2 0xc8 Data3 ID 0 253 Data4 Torque 0 254 Data5 targetposition Upper H3 3bit X Position H3 7 6 5 4 3 2 1 0 Data6 targetp...

Page 58: ... 0xD0 0x7F y ResponsePacket 1byte 1byte 0x07 0xD0 27 PositionRead Underhighresolutionmode PositionRead commandmakesawCKmoduletoreadthevalueofitscurrentposition CommandPacket 1byte 1byte 1byte 1byte 1byte 1byte Header Data1 Data2 Data3 Data4 Checksum Header 0xFF Data1 Mode 7 ArbitraryValue 7 6 5 4 3 2 1 0 Mode 7 Data2 0xc9 Data3 ID 0 253 Data4 Data3 Checksum byte2XORbyte3XORbyte5 AND0x7F ResponsePa...

Page 59: ...00 0x29 y ResponsePacket 1byte 1byte Position H3 Position L7 A 2 Communication Voltage Translation Circuit Board An RS 232 communication voltage translation circuit board is used to adjust the signal level between wCK module and a controller Thefollowingarethepictureandcircuitdiagramofthesignalboard FigureA 2a RS 232CommunicationSignalAdjustmentCircuitBoard ...

Page 60: ...F C4 1uF 5V 1 3 4 5 11 10 12 9 2 6 14 7 13 8 16 15 U1 MAX232 C5 1uF 1 2 3 4 5 6 7 8 CN1 HEADER8B 1 2 3 4 5 6 7 8 CN3 HEADER8B 1 2 3 4 5 6 7 8 CN5 HEADER8B 1 2 3 4 5 6 7 8 CN4 HEADER8B 1 2 3 4 5 6 7 8 CN2 HEADER8B VCC VCC VCC VCC VCC VCC VCC VCC VCC VCC 2 1 3 4 5 SW1 POWER 1 1 2 2 Battery_pack 1 2 3 Power_supply VCC 1 1 2 2 3 3 CN7 PC 5V VCC Rxd Txd TX_of_PC RX_of_PC Txd Rxd Rxd Txd Rxd Txd Rxd Txd...

Page 61: ... 14 7456 1 248 9600 0 14 7456 0 255 38400 0 14 7456 1 254 38400 0 22 1184 0 244 4800 0 22 1184 1 232 4800 0 22 1184 0 250 9600 0 22 1184 1 244 9600 0 22 1184 1 253 38400 0 22 1184 0 255 57600 0 22 1184 1 254 57600 0 22 1184 1 255 115200 0 80c196Kx Mode1 Clock Mhz SP_BAUD BaudRate bps Error 7 3728 805F 4800 0 7 3728 802F 9600 0 7 3728 800B 38400 0 7 3728 8007 57600 0 7 3728 8003 115200 0 11 0592 80...

Page 62: ...2 0 35 4800 0 11 0592 0 17 9600 0 11 0592 0 2 57600 0 14 7456 0 47 4800 0 14 7456 0 5 38400 0 14 7456 0 3 57600 0 14 7456 0 1 115200 0 AVRfamily Clock Mhz UBRRH UBRRL BaudRate bps Error 7 3728 0 95 4800 0 7 3728 0 47 9600 0 7 3728 0 11 38400 0 7 3728 0 7 57600 0 7 3728 0 3 115200 0 7 3728 0 0 460800 0 14 7456 0 383 2400 0 14 7456 0 191 4800 0 14 7456 0 95 9600 0 14 7456 0 23 38400 0 14 7456 0 15 5...

Page 63: ...yte chartimeout Receive1Bytefromserialport BasicFunctionsrelatingtowCKmodule voidSendOperCommand charData1 charData2 voidSendSetCommand charData1 charData2 charData3 charData4 charPosSend charServoID charSpeedLevel charPosition charPosRead charServoID charActDown charServoID charPowerDown void charRotation360 charServoID charSpeedLevel charRotationDir voidSyncPosSend charLastID charSpeedLevel char...

Page 64: ...on360 id 10 ROTATE_CCW delay_ms 1000 ActDown id delay_ms 1000 Ifpositionvalueincreased rotatetocwdirectionfor1secondandturntopassivemodefor1second elseif now_position old_position Rotation360 id 10 ROTATE_CW delay_ms 1000 ActDown id delay_ms 1000 old_position ActDown id Readcurrentpositionandsaveit delay_ms 300 DefinitionofBasicFunctions FunctionthatsendsOperationCommandPacket 4Byte towCKmodule In...

Page 65: ...endByte Data2 SendByte Data3 SendByte Data4 SendByte CheckSum FunctionthatsendsPositionMoveCommandtowCKmodule Input ServoID SpeedLevel Position Output Current charPosSend charServoID charSpeedLevel charPosition charCurrent SendOperCommand SpeedLevel 5 ServoID Position GetByte TIME_OUT1 Current GetByte TIME_OUT1 returnCurrent FunctionthatsendsPositionReadCommandtowCKmodule Input ServoID Output Posi...

Page 66: ...te TIME_OUT1 returnPosition FunctionthatsendsBreak wCKCommandtowCKmodule Input None Output ServoIDifsucceed 0xffiffail charPowerDown void charServoID SendOperCommand 0xdf 0x20 ServoID GetByte TIME_OUT1 GetByte TIME_OUT1 if ServoID 31 returnServoID return0xff Receiveerror Functionthatsends360degreeWheelwCKCommand Input ServoID SpeedLevel RotationDir Return RotationNumber charRotation360 charServoID...

Page 67: ...x Return None voidSyncPosSend charLastID charSpeedLevel char TargetArray charIndex inti charCheckSum i 0 CheckSum 0 SendByte HEADER SendByte SpeedLevel 5 0x1f SendByte LastID 1 while 1 if i LastID break SendByte TargetArray Index LastID 1 i CheckSum CheckSum TargetArray Index LastID 1 i i CheckSum CheckSum 0x7f SendByte CheckSum FunctionthatsendsBaudrateSetCommandtowCKmodule Input ServoID NewBaud ...

Page 68: ...etByte TIME_OUT2 Data2 GetByte TIME_OUT2 if Data1 NewPgain Data2 NewDgain return1 return0 FunctionthatsendsIDSetCommandtowCKmodule Input ServoID NewId Return NewIDifsucceed 0xffiffail charIdSet charServoID charNewId SendSetCommand 7 5 ServoID 0x0a NewId NewId GetByte TIME_OUT2 if GetByte TIME_OUT2 NewId returnNewId return0xff FunctionthatsendsGainReadCommandtowCKmodule Input ServoID NewPgain NewDg...

Page 69: ... sciRxReady TIME_OUT2 Data1 sciRxReady TIME_OUT2 if Data1 0xff returnData1 return0xff FunctionthatsendsOverLoadReadCommandtowCKmodule Input ServoID Return OvercurrentThresholdifsucceed 0xffiffail charOverCTRead charServoID charData1 SendSetCommand 7 5 ServoID 0x10 0 0 sciRxReady TIME_OUT1 Data1 sciRxReady TIME_OUT1 if Data1 0xff returnData1 return0xff FunctionthatsendsBoundarySetCommandtowCKmodule...

Page 70: ...eturn 1ifsucceed 0iffail charBoundRead charServoID char LBound char UBound SendSetCommand 7 5 ServoID 0x12 0 0 LBound GetByte TIME_OUT1 UBound GetByte TIME_OUT1 if LBound UBound return1 return0 EndofBasicFunctionsDefinition A 5 Default Parameter Settings BaudRate 7 115 200bps Pgain 20 Dgain 30 Igain 0 wCKmodule ID 0 MovementSpeed 0 Nospeedlimit AccelerationRange 60 Over current 33 400mA ControlAng...

Page 71: ...e byte4 check sum Extended Command I O Write 100 X Motion DATA Read 151 X ch I O Read 101 Runtime Speed Set 23 speed accel 0 30 20 100 I gain I gain I gain Read 22 X byte4 new I gain new I gain L bound U bound I gain Set 21 new I gain byte4 0 10 new U bound 0 254 0 254 Boundary Read 18 X byte4 new L bound Over Load Boundary Set 17 new L bound new U bound Over Load 16 X byte4 new Over Load 33 199 n...

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