RoboBuilder wCK series, User Manual

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User’s Manual
v1.07
wCK series
1byte 1byte
Motion Count Motion Count
Motion Count : 0 ~ 8
e.g.) Set a self-running motion to a wCK module with ID 0 (shuttle between position 82 and position 172).
y Command Packet
1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte
0xFF 0xE0 0x96 0x04 0x10 0x52 0x31 0x0A 0x10 0xAC 0x31 0x0a 0x0c
y Response Packet
1byte 1byte
0x04 0x04
(25) Motion Data Read
“Motion Data Read” command make a wCK module to read the number of instruction lines of a self-running motion program.
▶ 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 = 0x 97
Data3 = Arbitrary Value
Data4 = Data3
Checksum = (Data1 XOR Data2 XOR Data3 XOR Data4) AND 0x7F
▶
Response Packet
1 byte 1 byte
Motion Count Motion Count
※
Motion Count : 0 ~ 8