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Motor Action Commands 

The commands list related to Motor Action.

byte[0] Command Name description
0x50 disable Disable motor action
0x51 enable Enable motor action
0x58 speed Set the speed
0x5A presetPosition Preset position (origin setting)
0x60 runForward Run forward (ccw)
0x61 runReverse Run reverse (cw)
0x66 moveToPosition Move to absolute position
0x68 moveByDistance Move by relative distance
0x6C free Stop motor excitation
0x6D stop Decelerate the speed to zero and stop.
0x72 holdTorque Keep the torque
0x81 doTaskset Do taskset at index
0x86 preparePlaybackMotion Prepare playback of motion at index
0x87 startPlaybackMotion Start playback of motion
0x88 stopPlaybackMotion Stop playback of motion

0x50 : disable

Disable motor action.

byte [0] [1] [2] [3] [4]
value 0x50 uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting

 

0x51 : enable

Enable motor action.

byte [0] [1] [2] [3] [4]
value 0x51 uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting

 

0x58 : speed

Set the speed.

byte [0] [1] [2] [3] [4] [5] [6] [7] [8]
value 0x58

uint16_t identifier

float speed uint16_t crc16
description command task identifier speed [radian / second]
(Positive value)
CRC16
error-detecting

 

0x5A : presetPosition

Preset the current absolute position as the specified position. (Set it to zero when setting origin)

byte [0] [1] [2] [3] [4] [5] [6] [7] [8]
value 0x5A

uint16_t identifier

float position uint16_t crc16
description command task identifier absolute position [radian] CRC16
error-detecting

 

0x60 : runForward

Rotate motor forward (counter clock-wise) at the speed set by 0x58: speed.

byte [0] [1] [2] [3] [4]
value 0x60 uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting

 

0x61 : runReverse

Rotate motor reverse (clock-wise) at the speed set by 0x58: speed.

byte [0] [1] [2] [3] [4]
value 0x61 uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting

 

0x66 : moveTo

Move motor to the specified absolute position at the speed set by 0x58: speed.

byte [0] [1] [2] [3] [4] [5] [6] [7] [8]
value 0x66

uint16_t identifier

float position uint16_t crc16
description command task identifier absolute position [radian] CRC16
error-detecting

 

0x68 : moveBy

Move motor by the specified relative distance from the current position at the speed set by 0x58: speed.

byte [0] [1] [2] [3] [4] [5] [6] [7] [8]
value 0x68

uint16_t identifier

float distance uint16_t crc16
description command task identifier relative distance [radian] CRC16
error-detecting

 

0x6C : free

Stop motor excitation

byte [0] [1] [2] [3] [4]
value 0x6C uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting

 

0x6D : stop

Decelerate the speed to zero and stop.

byte [0] [1] [2] [3] [4]
value 0x6D uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting

 

0x72 : holdTorque

Keep and output the specified torque.

byte [0] [1] [2] [3] [4] [5] [6] [7] [8]
value 0x72

uint16_t identifier

float torque uint16_t crc16
description command task identifier torque [N*m] CRC16
error-detecting

 

0x81 : doTaskSet

Do taskset at the specified index.

byte [0] [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
value 0x81

uint16_t identifier

uint16_t index uint32_t repeating uint16_t crc16
description command task identifier index the number of repetitions CRC16
error-detecting

 

0x86 : preparePlaybackMotion

Prepare to playback motion at the specified index.

byte [0] [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11]
value 0x86

uint16_t identifier

uint16_t index uint32_t repeating uint8_t option uint16_t crc16
description command task identifier index the number of repetitions
option
CRC16
error-detecting
typedef enum option =
{
    PLAYBACK_OPTION_ABS = 0, // Start from the absolute recorded position.
    PLAYBACK_OPTION_RELATIVE = 1, // Start from the current position. (offset by the current position)
}

 

0x87 : startPlaybackMotion

Start to playback motion in the condition of the last preparePlaybackMotion.

byte [0] [1] [2] [3] [4]
value 0x87 uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting

 

0x88 : stopPlaybackMotion

Stop to playback motion.

byte [0] [1] [2] [3] [4]
value 0x88 uint16_t identifier uint16_t crc16
description command task identifier CRC16
error-detecting