RoboBuilder wCK series, User Manual

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User’s Manual
v1.07
wCK series
TABLE OF CONTENTS
1. INTRODUCTION p3
1-1 Introduction p3
1-2 Model Listing p4
1-3 Main Specifications p5
1-4 Main Features p5
1-5 Control Scheme p7
1-6 Application p8
1-7 Part List p10
1-8 Mechanical Specifications p10
1-9 Electrical & Control Specifications p12
2. USING wCK MODULE p13
2-1 Mechanical Connection p13
2-2 Electrical Connection p20
2-3 Communication p22
2-4 Software p25
3. CONTROL FUNCTIONS p26
3-1 Position Control p27
3-2 Synchronized Position Control p29
3-3 Passive Mode p30
3-4 Speed/Acceleration Setting p30
3-5 Movement Boundary Setting p30
3-6 Reverse-voltage Protection p30
3-7 Over-current Protection p30
3-8 Wheel Mode p30
3-9 Break Mode p30
3-10 External I/O Port p31
3-11 Self-running Motion p32
3-12 Initialization of wCK ID and Baud rate p33
A. APPENDIX p34
A-1 Communication Protocol p34
A-2 Communication Voltage Translation Circuit Board p59
A-3 Baud rate Setting for Independent Controller p60
A-4 Application Example p63
A-5 Default Parameter Settings p70
A-6 Protocol Table p71