RoboBuilder wCK series, User Manual

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User’s Manual
v1.07
wCK series
y
Response Packet
1byte 1byte
I-gain I-gain
(12) Runtime P, D gain Set
“Runtime P, D gain Set” command set the runtime P gain and D gain of a wCK module. When power cycled, the gains return to their
original values.
▶
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, ID : 0~30
※
Data2 = 0x0B
Data3 = 1~254 recommended (P-gain)
Data4 = 0~254 recommended (D-gain)
Checksum = (Data1 XOR Data2 XOR Data3 XOR Data4) AND 0x7F
▶
Response Packet
1byte 1byte
P gain D gain
※ P gain : 1~254, D gain : 0~254
e.g.) Set the runtime P gain and D gain of a wCK module with ID 0 (P gain = 100, D gain = 100).
y Command Packet
1byte 1byte 1byte 1byte 1byte 1byte
0xFF 0xE0 0x0B 0x64 0x64 0x69
y Response Packet