RoboBuilder wCK series, Руководство пользователя

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■ wCK protocol definition
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
header
0xFF
check sum
(note2)
(note3)
7 0~30
1 0
X X
X
※ X : don't care
※ note1 : CheckSum = (byte2 XOR byte3) AND 0x7F
※ note2 : CheckSum = (byte4 XOR … (byte(3)) AND 0x7F
※ note3 : CheckSum = (byte2 XOR byte3 XOR byte4 XOR byte5) AND 0x7F
※ note4 : CheckSum = (byte2 XOR byte3 XOR … byteN) AND 0x7F
※ note5 : CheckSum = (byte2 XOR byte3 XOR … byteN) AND 0x7F
※ note6 : CheckSum = (byte2 XOR byte3 XOR byte4 XOR byte5 XOR byte6 XOR byte7) AND 0x7F
※ Motion DATA commands: Self-running motion mode is activated only when the No of Instruction is more than 0 .
P gain D gain
Runtime I gain Set 24
I gain I gain
P gain D gain
0~10 0~10
0~1023
position(H3) position(L7) check sum
(note5)
ID
=byte4
0~253
position(L7)
0~253 0~254 0~1023 (note6) 0~1023
position(H3) check sum
10bit
Command
Position Move
x
200
ID Torq target(H3)
Position Read 201
target(L7)
0~8
Motion Count Motion Count
=byte4
check sum
(note3)
0~8
0~8
Motion Count Motion Count
0~8 0~8 0~254 0~254 0~254 0~254 0~254 0~254
Motion DATA 3
…
check sum
(note4)
D/O Value 8bit AD
Motion DATA Write 150
Motion Count Motion Command 1 Motion DATA 1 Motion Command 2 Motion DATA 2 Motion Command 3
X =byte4
D/O Value D/O Value =byte4
check sum
Extended
Command
I/O Write 100 X
Motion DATA Read 151 X
ch
I/O Read 101
Runtime Speed Set 23
speed accel
0~30 20~100
I gain I gain I gain Read 22 X =byte4
new
I gain
new
I gain
L bound U bound
I gain Set 21
new I gain
=byte4
0~10
new
U bound 0~254 0~254
Boundary Read 18 X = byte4
new
L bound
Over Load
Boundary Set 17
new L bound new U bound
Over Load 16 X = byte4
new
Over Load 33~199
new
Over Load
Speed Accel
Over Load Set 15
new overcur T
= byte4
SPEED Read 14 X = byte4
new Speed new Accel
0~30 20~100
SPEED Set 13
speed accel
new ID new ID
new ID
= byte4
0~254
Runtime P,D gain Set 11
P gain D gain
1~254 0~254
P gain D gain X = byte4
new
baudrate
new
baudrate
new
D gain
new
P gain
8 0~191
new baudrate
= byte4
check sum
new D gain
1~254 0~254
Configure
Comnand
Baudrate Set
ID mode
P,D gain Set
P,D gain Read 10
9
new P gain
position
ID Set 12
Over Load Read
0~254
ID X
0~15 0~254
Rotation Count
position
position
0~30
1 0~254
3=CCW
4=CW
speed
byte3 X Passive wCK
6
ID mode
Wheel wCK
Break wCK 31 2
position
0~254 5 0~30
(note1)
0~254
Load check sum
Status Read
mode ID
X
1~31 0~254 0~254 0~254 0~254 0~254 0~254 0~254 0~254
…
lastID-1 target lastID target
0~254
ID3 target ID4 target ID5 target ID6 target Syncronized Position
Move
31 X
1
position
0~4
0~30 0~254 (note1) 0~254 0~254
ID0 target ID1 target ID2 target
Load
byte 2
8bit
Command
Position Move
Torq ID target position check sum
byte byte
byte
byte 1 byte 8 byte 9 byte 10
…
Command
Command Packet Response Packet
byte 1
byte 2 byte 3 byte 4 byte 5 byte 6 byte 7