Download Robobuilder Creator Robot Kits User`s Manual

User’s Manual v1.0
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
1byte
1byte
y Response Packet
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
Header
Data1
Data2
Data3
Data4
Data5
1byte
Data6
1byte
Checksum
Header = 0xFF
Data1
7
Mode(=7)
6
5
Arbitrary Value
3
2
1
4
0
※ Mode : 7
Data2 = 0xc8
Data3 = ID(0~253)
Data4 = Torque(0~254)
Data5 = target position(Upper(H3) 3 bit)
7
6
X
5
4
3
Position(H3)
2
1
0
Data6 = target position(Lower(L7) 7 bit)
7
6
Position(L7)
5
4
3
2
1
X
0
Check sum = (byte2 XOR byte3 XOR byte4XOR byte5 XOR byte6 XOR byte7) AND 0x7F
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