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User’s Manual
v1.07
wCK series
e.g.) Command a wCK module with ID 0 to read the line number of instructions.
y
Command Packet
1byte 1byte 1byte 1byte 1byte 1byte
0xFF 0xE0 0x97 0x00 0x00 0x77
y
Response Packet
1byte 1byte
Motion Count Motion Count
A-1-4 10 bit Command
(26) Position Move
Under high resolution mode, “Position Move” command makes wCK module return the value of current position to controller and then
move to a specified target position.
▶
Command Packet
1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte
Header Data1 Data2 Data3 Data4 Data5 Data6 Checksum
Header = 0xFF
Data1
Mode(=7) Arbitrary
Value
7 6 5 4 3 2 1 0
※
Mode : 7
Data2 = 0xc8
Data3 = ID(0~253)
Data4 = Torque(0~254)
Data5 = target position(Upper(H3) 3 bit)
X Position(H3)
7 6 5 4 3 2 1 0
Data6 = target position(Lower(L7) 7 bit)
Position(L7) X
7 6 5 4 3 2 1 0
Check sum = (byte2 XOR byte3 XOR byte4XOR byte5 XOR byte6 XOR byte7) AND 0x7F
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 ...