RoboBuilder wCK series, Руководство пользователя

Страница: 6 / 71

6/71
User’s Manual
v1.07
wCK series
Error Compensation Algorithm
Special algorithm for position error compensation realized ±0.8 ˚ level of error with low resolution potentiometer feedback.
Position Control, Speed Control, Torque Control
Three different control modes help users apply wCK module to systems with various control requirements.
Various Operation Mode
Position control mode, Synchronized position control mode, Wheel mode, Passive mode, Break mode, Self-running mode, etc
Various Parameters
Various parameters configurable such as wCK ID, Baud rate, Position control resolution, PID gains, Movement speed, Acceleration
range, Motion Boundary, Max operation current, etc
Multi Drop Full Duplex UART serial communication
The Full Duplex UART two-way serial communication enables to connect to wCK directly without using separate communication
device from external controller.
Control Optimized Protocol
Minimized communication time delay by adopting optimized protocol structure and real-time response method for all commands.
External I/O Port
1channel A/D input(0V~5V), 2channels Digital Output(TTLlevel)
Self-running Motion
wCK can run a motion and sensor interaction by itself without being controlled by external controller
Various Speed Levels
30 levels in position control mode, 16 levels in 360 ˚ wheel mode
Voltage-adaptive Automatic Adjustment of Control Angle
wCK module can implement automatic compensation for control output according to real-time input voltage
Windows based Programming Software
Windows-based software such as wCK programmer, Motion Builder, Action Builder
Wide range of Input Voltage
Wide range of input voltage (6VDC~10VDC)