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User’s Manual
v1.07
wCK series
▶
Response Packet
1byte 1byte
Position(H3) Position(L7)
※
Position(H3) + Position(L7) : 0~1023
e.g.) Command a wCK module with ID 0 to move to position 1000 at torque 0.
y
Command Packet
1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte
0xFF 0xE0 0xC8 0x00 0x00 0x07 0xD0 0x7F
y
Response Packet
1byte 1byte
0x07 0xD0
(27) Position Read
Under high resolution mode, “Position Read” command makes a wCK module to read the value of its current position.
▶
Command Packet
1byte 1byte 1byte 1byte 1byte 1byte
Header Data1 Data2 Data3 Data4
Checksum
Header = 0xFF
Data1
Mode(=7) Arbitrary
Value
7 6 5 4 3 2 1 0
Mode : 7
※
Data2 = 0xc9
Data3 = ID(0~253)
Data4 = Data3
Check sum = (byte2 XOR byte3 XOR byte5) AND 0x7F
▶
Response Packet
1byte 1byte
Position(H3) Position(L7)
※
Position(H3) + Position(L7) : 0~1023
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 ...