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User’s Manual
v1.07
wCK series
▶
Response Packet
1byte 1byte
P gain
D gain
P gain : 1~254, D gain : 0~254
※
e.g.) Command a wCK module with ID 0 to read its P gain and D gain.
y
Command Packet
1byte 1byte 1byte 1byte 1byte 1byte
0xFF 0xE0 0x0A 0x00 0x00 0x6A
y
Response Packet
1byte 1byte
P-gain D-gain
(10) I gain Set
“I gain Set” command sets the I gain of a wCK module.
▶
Command Packet
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 = new I gain(0~10 recommended)
Data4 = Data3
Checksum = (Data1 XOR Data2 XOR Data3 XOR Data4) AND 0x7F
▶
Response Packet
1byte 1byte
new I gain
new I gain
new
※
I gain : 0~10
Summary of Contents for wCK series
Page 1: ...wCK series User s Manual Intelligent Modular Robot Ver 1 07 ...
Page 9: ...9 71 User s Manual v1 07 wCK series Figure1 6a Application VariousArticulatedRobots ...
Page 12: ...12 71 User s Manual v1 07 wCK series Figure1 8c BlowUpPicture Figure1 8b Dimension ...
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 29: ...29 71 User s Manual v1 07 wCK series PDgainControl PIDgainControl ...