Robobuilder Creator Robot Kits User`s Manual
Contents
1. VCC C2 SW1 1uF 1uF 1 VCC VCC VCC 465 1 1 CN1 CN2 CET o2 4 2 2 1 5 1 5 U1 x 2 6 Txd Txd 2 6 Txd 3 Battery pack Rxd 3 7 Hxd Rxd 3 7 Rxd 1 2 T1 4 8 4 8 1uF 3 POWER C4 HEADER8B HEADER8B 4 6 n E L C5 1uF 1 1uF 11 14 RX of PC 2 gt Txd 10 7 Power_supply Rxd 12 lt 1 13 TX of PC 9 8 VCC VCC VCC ox CNA 19 1 5 1 5 MAX232 Txd 2 6 Txd 2 6 Txd Rxd 3 7 Rxd Rxd 3 7 Rxd 4 8 4 8 HEADERSB HEADER8B PEL T1 77 FET VCC VCC VCC 5V CN5 1 5 CN7 Txd 2 6 RX of PC 1 Rxd 3 1 7 of PC 2 gt U2 4 8 3 3 L 5 4 HEADERSB PC 2 GND Bp 4 CR1 IT FT1 LED 3 SD LP2985 __ C7 1OuF 103 1lOuF R1 470 T1 TT T1 IA T1 Figure A 2b Circuit Diagram of Communication Board A 3 Baud rate setting for Independent Controller In case of using a MCU to control a wCK module it s recommended that a user refer to the following information in tables to mmimize communication error 60 71 User s Manual v1 02. CheckSum byte2 P AND Ox7F note2 CheckSum byte4 byte lastlD 3 AND Ox7F note3 CheckSum byte2 XOR byte3 XOR byte4 XOR byte5 AND 0x7F note4 CheckSum byte2 byte3 XOR gt lt byteN AND Ox7F note5 CheckSum byte2 XOR byte3 XOR gt byteN AND Ox7F note6 CheckSum byte2 XOR byte3 XOR byte4 XOR byte5 XOR byte6 XOR byte7 AND 0x7F x Motion DATA commands Self running motion mode is activated only when the No of Instruction is more than 0 Response Packet 165432 11007 615 43 21110 0 254 0 254 position 0 254 position position Rotation Count 0 254 position 0 254 new new baudrate baudrate new new P gain D gain new new Over Load Over Load new new L bound U bound new new gain gain D O Value D O Value D O Value 8bit AD Motion Count Motion Count 0 8 0 8 Motion Count Motion Count 0 8 0 8 position H3 position L7 gt 0 1023 position H3 position L7 0 1023
3. Postion _ 7654 o Data target r eee 7 bit 6 5 4 3 2 i 1 5 Check sum byte2 XOR byte3 XOR byte4XOR byte5 XOR byte6 XOR byte7 AND 0x7F User s Manual v1 0 wCK series gt Response Packet Position H3 Position L7 0 1023 e g Command a wCK module with ID 0 to move to position 1000 at torque 0 Command Packet 27 Position Read Under high resolution mode Position Read command makes wCK module to read the value of its current position gt Command Packet Mode 7 EN X Mode 7 Data2 9 Data3 ID 0 253 Data4 Data3 Check sum byte2 XOR byte3 XOR byte5 AND 0x7F gt Response Packet Ibyte Position H3 Position L7 0 1023 5 8 7 1 _ qim User s Manual v1 0 series e g Command a wCK module with ID 0 to read its position Command Packet OxFF OxEO Response Packet Ibyte A 2 Communication Signal Adjustment Circuit Board o ow RS 232 communication signal adjustment circuit board is used to adjust the signal level between wCK module and a controller The following the picture and circuit diagram of the signal board L at Ti Figure A 2a RS 232 Communication Signal Adjustment Circuit Board ii L ney 72 r 59 71 CHOR k User s Manual v1 0 series
4. Unit Angle 269 255 1 055 Standard Resolution 333 1023 0 325 High Resolution Control Error 0 8 Standard Resolution The full Movement Angle above can be used when a Joint such as Joint 2 Joint 3 Joint 5 Joint 9 Joint 12 1s connected to the Pentagon shaped Junction while a smaller range of Movement Angle is available when a Joint such as Joint 1 Joint 2 Joint 6 Joint 10 15 connected to the Axis Junction wCK module realized precise motion control by adopting PID control technology The following is the block diagram that shows the simplified control scheme of the built in motion control system User s Manual v1 0 series wem taqe Re gulator Protector EEE LC Filter T E Y uns Motor Dire etian Below the response characteristics graphs that show the different response characteristics of wCK module when each method of P gain Control PD gain Control and PID gain Control 1s applied e P gain Control Response Characteristics Target Positon Line Response Position Line Response Torg Line Response Speed Line q amp ee X Xx j Cn ea iD ch r 2 i LL 4 r p Q4 r 4 r 4 r d4 rp d4 rpr d4 r 2
5. char PosRead char ServoID char Position SendOperCommand Oxa0 ServoID NULL a i 65 71 PUN series User s Manual v1 0 GetByte TIME OUTI Position GetByte TIME OUTI return Position PR PR PR sk rie resi sie e sk esie oe ak ae ae ae ak ak ae ae ten Function that sends Passive Command to wCK module m Input ServoID M Output Position T RTT sk rk resi ae aek akae aea ak ae ae ae ak ake ae ae zh AC char ActDown char ServoID char Position sendOperCommand 0xcO ServoID 0x 10 GetByte TIME OUTI Position GetByte TIME OUTI return Position ETE Tk sk sk esie sk sie ak sese ak akk ake e 28 AC e Function that sends Break wCK Command to wCK module Input None ui Output ServoID if succeed if fail 2 PR PR rk sk rk resi se serie e zie oe zie ak e ie oie e zh oe e she zh oe zh oe ie e esee tede char PowerDown void char ServoID SendOperCommand Oxdf 0x20 ServoID GetByte TIME GetByte TIME if ServoID lt 3 1 return ServoID return Receive error PR PR PR ARR e she ak zie ak zh she oe sk oe ie she e zh oe ie oe e zh akk ale ente Function that sends 360 deg
6. 56 Using general purpose MCU Robot Platform Full Duplex UART serial Signal Adjustment Circuit wCK module system Figure 1 5c Direct PC Control without external controller 1 6 Application wCK module is applied to various types of articulated robot platforms for the purposes such as R amp D toy and entertainment game amusement commercial and educational purposes It can also be used for systems that require multi axis movement such as medical devices tool set for science and education etc The self running motion of wCK module help build a simple and compact stand alone system too 8 71 User s Manual v1 0 wCK series Figure 1 6a Application Various Articulated Robots 9 7 wCK series User s Manual v1 0 1 7 Part List Figure 1 7a Part List Part List 1EA X wCK module 1EA X Round Joint 1 x wCK Cable 4wire twisted X Bolt 1 M2X40mm 5 X Nut 2 6 1 x Bolt 2 M2 X 8mm 10 71 Intelligent wCK robot module Transmit force of wCK module to external object Wiring cable for wCK module Fix wCK module onto external object Fix wCK module onto external object Fix round joint to the axis of wCK module User s Manual v1 0 wCK series 1 8 Mechanical Specifications Size 51 6 mm 27 1 mm 36 4 mm e Weight 45g wCK 1108 499 wCK 1111 1413 e Stall Torque 13kg cm wCK 1413 under recommended input voltage e Mech
7. Byte to serial port void GetByte char timeout Receive 1 Byte from serial port Basic Functions relating to wCK module void SendOperCommand char Datal char Data2 void SendSetCommand char Datal char Data2 char Data3 char Data4 char PosSend char ServoID char SpeedLevel char Position char PosRead char ServoID char ActDown char ServoID char PowerDown void char Rotation360 char ServoID char SpeedLevel char RotationDir void SyncPosSend char LastID char SpeedLevel char l argetArray char Index char BaudrateSet char ServoID char NewBaud char GainSet char ServoID char NewPgain char NewDgain char IdSet char ServoID char Newld char GainRead char ServoID char Pgain char char ResolSet char ServoID char NewResol char ResolRead char ServoID char OverCTSet char ServoID char NewOverCT char OverCTRead char ServoID char BoundSet char ServoID char NewLBound char NewUBound char BoundRead char ServoID char L Bound char UBound j End of Function Prototype User s Manual v1 0 wCK series void main void t chari old position Initialize Initialize peripheral devices prepare for serial port id 0 old position ActDown d Read the initial position of a wCK with ID 0 while 1 now position ActDown id Read current position If position value decreased rotate to cew direction for 1 second
8. L Position lastID 1 mi L 101 target ID2 target ID3 target 104 target ID5 target ID6 target ES lastID 1 target lastlD target Move 1 31 0 254 0 254 0 254 0 254 0 254 0 254 0 254 0 254 0 254 note2 mode ID check sum Status Read Read eo _ j j lj j 0 191 note3 new P new D 1 254 0 254 0 30 BreakwoK wCK Command pe oom _ j j j j 0 30 p CW 0 15 0 15 15 Baudrate Set Set P D gain Set P D gain Read D gain 1 254 0 254 new ID speed accel 0 30 20 100 E new L bound new U bound 0 254 0 254 s new gain gain gain 0 10 0 10 ENG EE ______ j j LLL _ j 0 8 0 254 0 254 0 254 0 254 0 254 0 254 note4 check sum MEL LL AL ID Torq target H target L7 check sum 0 253 0 254 7 1023 note6 ID cree gain Set ID Set SPEED Set SPEED Read Configure Comnand Over Load Set Over Load Read Boundary Set Boundary Read gain Set I gain Read Runtime Speed Set Runtime gain Set I O Write check sum I O Read Extended Command Motion DATA Write Motion DATA Read Position Move 10bit Command Position Read X don t
9. Listing Torque 8kg cm Torque 11kg cm Torque 13kg cm ga say WCK 1108T wCK 1111T wCK 1113T wCK 1408K wCK 1411K wCK 1413K 14 wCK 1408T wCK 1411T wCK 1413T T Power 1 4 W Parent Available Model Listings may change without notice Figure 1 2b Model Listings OSEE A User s Manual v1 0 series 1 3 Main Specifications e Communication Mult drop Full Duplex UART serial communication e Baud Rate 4 800bps 921 600bps 8 levels e Extension Max 254 modules per channel ID 0 253 Operating Voltage 6VDC IOVDC 7 AVDC 8 4VDC recommended e Speed Max No Load Speed 0 15 sec 60 wCK 1108 under recommended voltage e Stall Torque 13kg cm wCK 1413 under recommended voltage e Max Power I IW wCK 1108 1111 1 4W wCK 1413 e Gear Ratio 1 173 wCK 1108 1 221 wCK 1111 1413 e Control Mode Position Control Speed Control Torque Control e Control Angle 0 254 Standard Resolution 0 1 022 High Resolution Operating Angle 0 269 Standard Resolution 0 333 High Resolution e Resolution 8 bit 1 055 Standard Rosolution 10 bit 0 325 High Resolution Error Range 0 8 Standard Resolution e Speed Level 30 levels Position Control Mode 16 levels Wheel Mode e Case Material Engineering Plastic e Gear Material POM wCK 1108 POM Metal wCK 1111 1413 Size 51 6 mm X 27 1 mm 36 4 mm Weight 45g wCK 1108 499 wCK 1111 1413 1 4 Main Features
10. Set Boundary Set command sets the rotation movement boundary of a wCK module gt Command Packet series X Mode 7 0 30 51 71 User s Manual v1 0 wCK series Data2 0x11 Data3 new Lower Boundary 0 254 Data4 new Upper Boundary 0 254 Checksum Datal Data2 Data3 Data4 AND 0 7 gt Response Packet New Lower New Upper Boundary Boundary new Upper Boundary 0 254 new Lower Boundary 0 254 e g Set movement boundary of a module with ID 0 Lower Boundary 100 Upper Boundary 50 Command Packet Response Packet 21 Boundary Read Boundary Read command make a wCK module to read the value of its movement boundary mE X Mode 7 0 30 Data2 0x12 Data3 Arbitrary Value Data4 Data3 Checksum Datal Data2 Data3 Data4 AND 0 7 User s Manual v1 0 wCK series gt Response Packet new Upper Boundary 0 254 new Lower Boundary 0 254 e g Comand wCK module with ID 0 to read its boundary values Command Packet Kal E CON Io RN Response Packet A 1 3 Extended Command 22 Write T O Write command makes wCK module to write to the D O Digital Output port gt Command Packet Header OxFF Datal 171615 4 3 2 1 X Mode 7 10 0 30 Data2 0x64 Data3 Ka X 0 D O 1 output value bit D O 2 output value Data
11. and turn to passive mode for 1 second if now positioncold position Rotation360 id 10 ROTATE CCW delay ms 1000 ActDown id delay ms 1000 j If position value increased rotate to cw direction for 1 second and turn to passive mode for 1 second elseif now position old position Rotation360 id 10 ROTATE CW delay ms 1000 ActDown id delay ms 1000 j old position ActDown id Read current position and save it delay ms 300 Definition of Basic Functions fAHMIMMITMIIMII FR rer sk se ie zh oe ie zh ie ree zh oe Function that sends Operation Command Packet 4 Byte to wCK module nput Datal Data2 T Output None x FR PR sk k kaeaea aae ae ak ak akale oe ie zh akale oe ie she ae zh oe ie ode oe zie ae e oh ez ae oe ie ake akk void SendOperCommand char Datal char Data2 i char CheckSum CheckSum 1 Data2 amp 0x7f SendByte HEADER SendByte Datal SendByte Data2 SendByte CheckSum c E A 1 ATE ar sit PUE User s Manual v1 0 series PR PR PR ARR esie sie esie AC se zie ak e ae oe zie ak ke rhe oe akk oe oe ie oe e she oe sk oe oe ie Function that sends Set Command Packet 6 Byte to module Input Datal Data2 Data3 Data4 Output None ETE resi sk resi e zie ie zh oe zh oe oe ie
12. lt 8 bit Position Value 4 gt D 5 c D 1 D 2 6 Conditional Decision 3 lt 8 bit external port A D input value 4 gt D 5 D 7 No of Repetition 0 Infinity 1 to 254 No of repetition 5 End of Program Example Program The rotation axis of a wCK module moves to position 100 at torque 1 then moves to position 200 at torque 0 after delay 150 then repeat this motion after delay 250 32 7 1 _ qim User s Manual v1 0 wCK series Scan ID Do Clear All Instruction CO Instruction Sub Instruction L1 Control Position 074 E 100 gt 3 Delay Brns 150 Motion Scan L2 3 Delay tamsi El E H Control Position 074 1 0 200 14 3 Delay Bms 250 0 Set Ap of fastuction ja gt Bou BH n m El Motion Set sh AP zx 0 0 El 3 12 Initialization of wCK ID and Baud rate While configuring or controlling a wCK module user may encounter a problem a situation when he has unavoidably to initialize the ID and baud rate of the wCK module by mistake or for product fault Remove the cover of external I O port first and use tweezers to apply electric current between point A and point B for more than 10 seconds then the ID and baud rate get initialized default initial values ID 0 Baud rate 1 15 200 33 71 2 User s Manual v1 0
13. recommended e Max Current 400mA 1 800mA Over current Protection e Reverse voltage Protection 0 28V e Max Power 1 4W wCK 1413 1 1 W wCK 1108 1111 e Speed Level 30 levels Position Control Mode 16 levels Wheel Mode e Speed Max No Load Speed0 19sec 60 wCK 1413 0 21sec 60 wCK 1111 0 15 60 wCK 1 108 Acceleration Range range from 20 to 100 e Max Stall Torque I3kgem wCK 1413 1 1kg cm wCK 1111 8kg cm wCK 1108 under recommended input voltage e Control Mode Position Control Speed Control Torque Control e Control Angle 0 254 Standard Resolution 0 1 022 High Resolution Operation Angle 0 269 Standard Resolution 0 333 High Resolution e Resolution 8 bit 1 055 Standard Resolution 10 bit 0 325 High Resolution Unit Control Angle 2697255 1 055 Standard Resolution 333 1023 0 325 High Resolution e Control Error 0 8 8 bit Standard Resolution P gain 1 120 recommended e D gain 0 254 recommended e gain 0 10 recommended gt cf Max Power Power of built in DC motor Gear Ratio x 66 the average efficiency of 4 step mechanical gear gt cf Max No Load Speed Max No Load Speed of built in DC motor X 1 Gear Ratio 2 USING wCK MODULE 2 1 Mechanical Connection wCK modules can be easily connected and extended by plugging various joint parts into the junction points of wCK module This Quick amp Simple assembly scheme enables users to design and build robot systems with
14. sends ID Set Command to wCK module i Input ServoID NewId New ID if succeed Oxffif fail PR PR PR ARR ese esie ie zie akk e sk oe e oe ie char IdSet char ServoID char NewlId SendSetCommand 7 lt lt 5 ServoID 0x0a Newld GetByte TIME OUT2 if GetByte TIME OUT2 Newld return Newld return j PR PR PR sk rl esie scie ak esie ak ie oe ie Function that sends Gain Read Command to wCK module Input ServoID NewPgain NewDgain k 1 if succeed 0 if fail L PR PR PR ARR AR sie ode ie she zh oe char GainRead char ServoID char Pgain char Deain SendSetCommand 7 lt lt 5 ServoID 0 0 Poain GetByte TIME OUT1 68 71 E User s Manual v1 0 wCK series Deain GetByte TIME OUTI if Pgain gt 0 amp amp Pgain lt 51 amp amp Dgain lt 101 retum 1 return 0 RFT ARR AR sie se sie esie oe zie ak oe ze oe zie ake e ak aie zh oe ie she oe oh AS Function that sends Over Load Set Command to wCK module i Input ServoID NewOverCT Return New Overcurrent Threshold if succeed if fail sk sie rie sie sie se sie e ak e e zh oe oe rhe FAS zh oe ie she e
15. series A APPENDIX 1 Communication Protocol A 1 1 8 bit Command 1 Position Move Position Move command makes wCK module return the values of current load and current position to controller and then move to a specified target position gt Command Packet Header OxFF Datal EX 0 Torq 0 Max 4 Mmn ID 0 30 Target position 0 254 Checksum Datal X OR Target position AND Ox7F gt Response Packet X Load 0 254 Position 0 254 e g Command a wCK module with ID 0 to move to target position Ox7F 127 at torque 0 Command Packet Response Packet 34 7 User s Manual v1 0 series 2 Synchronized Position Move Synchronized Position Move command makes multiple wCK modules move to a specified target position Five torque levels are selectable for the movement P Comma Pad ve e T me me pae mapasa te Header OxFF Datal _7 5 T T 2 0 X Torque 0 Max 4 Min Data2 Arbitrary Value _7 5 al 3 oO i 0 X LastID 1 1 31 last wCK module s ID 1 ID x target 0 254 target position of wCK module with ID x X Last ID target 0 254 target position of wCK module with Last ID Checksum 100 target byte LAST ID 3 AND Ox7F gt Response Packet None e g Command wCK modules with ID 0 and ID 1 to move simultaneously to target posi
16. zh akk akkale ree reine char OverCTSet char ServoID char NewOverCT char Datal SendSetCommand 7 lt lt 5 ServoID OxOf NewOverCT NewOverCT sciRXReady TIME OUT2 Datal sciRxReady TIME OUT2 if Datal Oxtf return Data return PR PR PR ARR AR sie se sk ak ae ak ae ae e oe ie she zh oe ie sk akk ale AC ie rk e tede ie akk ae Function that sends Over Load Read Command to wCK module E Input ServoID g Return Overcurrent Threshold if succeed Oxff if fail 0 sk rk resi e ae ae zie ode oe AC char OverCTRead char ServoID char Datal SendSetCommand 7 lt lt 5 ServoID 0x10 0 0 sciRXReady TIME OUTI Datal sciRxReady TIME OUTI if Datal Oxtf return 1 return j PR PR PR sk rk ak e Function that sends Boundary Set Command to wCK module Input ServoID NewLBound NewUBound uz Return 1 if succeed if fail i PR PR Tk sk rk esie se sie ese ak ak ae ake 28 e 28 oe ie e rie AC akk char BoundSet char ServoID char NewLBound char NewUBound char Datal Data2 69 71 e User s Manual v1 0 wCK series SendSetCommand 7 lt lt 5 ServoID 0x11 NewLBound NewUBound Data
17. 0 4800 0 3 6864 0 5 9600 0 3 6864 0 0 57600 0 7 3728 0 23 4800 0 7 3728 0 11 9600 0 7 3728 0 2 38400 0 7 3728 0 1 57600 0 7 3728 0 0 115200 0 11 0592 0 35 4800 0 11 0592 0 17 9600 0 11 0592 0 2 57600 0 14 7456 0 47 4800 0 14 7456 0 5 38400 0 14 7456 0 3 57600 0 14 7456 0 115200 0 eAVR family Clock Mhz UBRRH UBRRL Baud Rate bps Error 7 3728 0 95 4800 0 7 3728 0 47 9600 0 7 3728 0 38400 0 7 3728 0 7 57600 0 7 3728 0 3 115200 0 7 3728 0 0 460800 0 14 7456 0 383 2400 0 14 7456 0 191 4800 0 14 7456 0 95 9600 0 14 7456 0 23 38400 0 14 7456 0 15 57600 0 14 7456 0 7 115200 0 14 7456 0 2 230400 0 14 7456 0 1 460800 0 14 7456 0 0 921600 0 62 71 User s Manual v1 0 wCK series A 4 Application Example The following is an example C programs required and helpful for controlling a wCK module Functions relating to serial communication may vary depending upon the type of MPU so add accordingly required functions for your MPU Example Program l Motion Explanation If given a force wCK rotates to the direction of the force and stops T Motion Logic Read wCK s position feedback to decide rotation direction and start movement i when there s any change in position 2 22 22 define HEADER define NULL 0 define ROTATE CCW 3 define ROTATE CW 4 Start of Function void SendByte char data Send 1
18. 0 Data2 EN T T E ES x o X Direction ACW Speed O stop 1 min 15 max Checksum Datal Data2 AND 0x7F gt Response Packet Ibyte No of Rotation No of Rotation 0 255 No of Rotation after power supplied CCW CW Position 0 254 e g Command a wCK module with IDO to revolve to CCW direction at speed level 15 Command Packet Response Packet Position 6 Break wCK Break command make all wCK modules connected on one channel to turn into Break Mode Break Mode stops the motion of a wCK module and thus help hold still a system s mechanical structure without consuming electric power by using dynamic break In this mode the rotation axis become stiff and hard to move with a hand gt Command Packet Header OxFF Datal 38 71 User s Manual v1 0 wCK series X Mode 6 Data2 2 Arbitrary Value _7 6 5 4 3 2 1 0 X Mode 2 Checksum Datal Data2 AND 0x7F gt Response Packet X ID 0 30 Position 0 254 e g Command a wCK module with ID 0 to tum into Break mode Command Packet A 1 2 Set Command 7 Baud rate Set Baud rate Set command sets the communication baud rate of a wCK module Supported baud rates are 4800 bps 9600 bps 38400 bps 57600 bps 115200 bps 230400 bps 460800 bps 921600 bps gt Command Packet Header OxFF D
19. 4 Data3 Checksum Datal XOR Data2 XOR Data3 Data4 AND 0x7F 5 3 7 _ User s Manual v1 0 wCK series gt Response Packet D O Value D O Value D O Value Data3 e g Command a wCK module with ID 0 to write the D O values 1 CH2 1 Command Packet 23 I O Read Read command make a wCK module to read the I O data from external port gt Command Packet Header OxFF Datal E X Mode 7 0 30 Data2 0x65 Data3 Arbitrary Value Data4 Data3 Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet 54 71 TUE Ku User s Manual v1 0 wCK series D O Value structure Arbitrary Value CH TID SIDE e g Command wCK module with ID 0 to read its I O data Command Packet ox Response Packet 24 Motion Data Write Motion Data Write command is used to set self running motion program to a wCK module Refer to 3 11 Selfrunning Motion for programming logics gt Command Packet bye f Datal Data2 Motion Count a dX Data X Checksum Header OxFF Datal 12 0 X Mode 7 ID 0 30 Data2 Ox 96 Motion Count 0 8 Motion command X 0 254 Motion data X 0 254 Checksum byte2 XOR byte3 XOR byten AND Ox7f gt Response Pa
20. 4 r R Hd k Hd E Hd Ek Hd E ad E ad HrE a2a r e lt 20 25 Sample Number 28 71 series Response Position Line Response Tory Line Response Speed Line Target Positon Line Response Position Line Response Torq Line Response Speed Line Target Positon Line ON N Sample Number Sample Mumber 4 1 4 t e LE t z 2 i c n 5 I o T a Y poc cuum muse s F r Fsh oe ep cq eu ye ho ae pete ee A eurer FUR ea g pp r ey Nec ee ae ee SA a TUE S NETT A TI ee ar Marec cM FON Re Oa eh g ey a ge eee ee ee bene ee ee I ooo mo r D in x 01 bu m mr paadg ol bun paadg uo PD gain Control PID gain Control gt 5 gt 2 User s Manual v1 0 wCK series 3 2 Synchronized Position Control Synchronized Position Control function 15 used to synchronize and control multiple wCK modules that are connected electrically on a same channel Maximum 31 wCK modules can be connected and controlled simultaneously so th
21. All in One Integrated Robot Module components such as controller sensor actuator I O port are integrated in a small plastic enclosure e Compact Design Compact and fancy exterior design with smooth curved lines enhances its functionality as well as helps efficient mechanical system designing e 2 Way Mechanical Power Transmission 2 way mechanical power transmission structure enables users to build various structures of mechanical systems Quick amp Simple Joint Assembly Quick and simple joint assembly scheme enables users to simply plug a plastic joint into wCK modules to complete linking wCK modules which helps invent creative robots and reduce building time dramatically Presice PID Control Position control error of 0 8 realized through precise PID control in Standard Resolution High resolution Mode 10 bit 1 024 steps unit control angle 0 325 Standard Resolution Mode 8 bit 256steps unit control angle 1 055 5 if 1 pe qim User s Manual v1 0 wCK series Error Compensation Algorithm Special algorithm for position error compensation realized 40 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 runni
22. Intelligent Modular Robot BUILDER wCK series Users Manual User s Manual v1 0 TABLE OF CONTENTS 1 INTRODUCTION 1 1 Introduction 1 2 Model Listing 1 3 Main Specifications 1 4 Main Features 1 5 Control Scheme 1 6 Application 1 7 Part List 1 8 Mechanical Specifications 1 9 Hlectrical amp Control Specifications 2 USING wCK MODULE 2 1 Mechanical Connection 2 2 Electrical Connection 2 3 Communication 2 4 Software 3 CONTROL FUNCTIONS 3 Position Control 3 2 Synchronized Position Control 3 3 Passive Mode 3 4 Speed Acceleration Setting 3 5 Movement Boundary Setting 3 6 Reverse voltage Protection 3 7 Over current Protection 3 8 Wheel Mode 3 9 Break Mode 3 10 External I O Port 3 11 Self running Motion 3 12 Initialization of wCK ID and Baud rate APPENDIX 1 Communication Protocol A 2 Communication Signal Adjustment Circuit Board A 3 Baud rate Setting for Independent Controller 4 Application Example A 5 Default Parameter Settings A 6 Protocol Table 2 71 series p3 p3 p5 p5 p7 p8 p10 p10 p12 p13 p13 p20 p22 p25 p26 p27 p29 p30 p30 p30 p30 p30 p30 p30 p31 p32 p33 p34 p34 p59 p63 p70 p71 User s Manual v1 0 wCK series 1 INTRODUCTION 1 1 Introduction RoboBuilder s wCK module is an intelligent robotic module with which users can build creative robots of various shapes and easily operate and control ro
23. Packet __ _7 6 5 4 3 2 1 X Mode 7 ID 0 30 Data2 0 0 Data3 1 254 recommended P gain Data4 0 254 recommended D gain Checksum Datal Data2 Data3 Data4 AND 0x7F gt Response Packet X P gain 1 254 D gain 0 254 e g Set the runtime P gain and D gain of a wCK module with ID 0 P gain 100 D gain 100 Command Packet Response Packet 44 71 User s Manual v1 0 wCK series Ibyte 13 Runtime I gain Set Runtime I gain Set command set the runtime I gain of a wCK module When power cycled the gain returns to its original value gt Command Packet Header OxFF Datal Mode 7 EN X Mode 7 0 30 Data2 0x18 Data3 I gain 0 10 recommended Data4 Data3 Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet I gain 0 10 e g Set the runtime I gain of a wCK module with ID to 4 Command Packet oe Hag EMO S re 5 7 l en 4 ur es d i User s Manual v1 0 wCK series 14 ID Set TD Set command sets the ID number of a wCK module gt Command Packet Header OxFF Datal EX E X Mode 7 0 30 Data2 0x0C Data3 new ID 0 254 Data4 Data3 Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet xX new ID 0 254 e g Set the ID ofa wCK module with ID 0
24. Runtime Speed Acceleration range Setting Command 18 Over Load Set Over Load Setting Command 19 Over Load Read Read Over Load 20 Boundary Set Movement Boundary Setting Command 21 Boundary Read Read Movement Boundary Setting Command 22 I O Write Write to External I O port 23 I O Read Read External I O port 24 Motion Data Write Write Self running motion program 25 Motion Data Read Read Self running motion program 26 Position Move 10 bit Move Position Command 27 Position Read 10 bit Read Position Command User s Manual v1 0 wCK series Reset Time after Power Supply wCK module turns into Stand By status after 65msec during which no command is recognized Power Supply Stand by passive mode Communication Time Delay Command transmission through RS 232 inevitably generate time delay if multiple wCK modules are connected together So each wCK module command in different time Usually this time delay is ignorable but for a system that requires precise control characteristics please refer to below table and use it to design a system accordingly Baud Rate 1 Byte Transmission Time l Command 4 byte 1 Command Delay Time at 30 Transmission Time rpm bps 5 us 921 600 0 011 0 0078125 Command Response Time Below table shows the Command Response Time at different baud rates Command Response Time means the amount of time which takes for a wCK module from sending a Comma
25. anical Connection Method Quick amp Simple Joint Insert Assembly e Mechanical Connection Point 3 Junction Points pentagon shaped Junction Axis Junction Body Junction Joint Various Robot Structure can be created using 12 types connection Joints Gear Ratio 1 173 wCK 1108 1 241 wCK 1111 1413 Gear Material POM wCK 1108 POM Metal wCK 1111 1413 Case Material Engineering Plastic Case Color Black wCK 1108K 1111K 1413K Transparent wCK 1108T cf Max Stall Torque Stall Torque of built in DC motor X Gear X 80 Bolt Holes for external fixture Rotation Axis External l O port Cover Pentagon shaped Junction Axis Junction Body Junction Cable Connector 1 Cable Connector 2 Figure 1 8a Names of Extemal Parts 11 71 _ User s Manual v1 0 Figure 1 8b Dimension 1 Cover Top 2 Housing 3 Cover Bottom 4 Gear4 5 Gear 6 Gear2 7 Bearing1 8 Gear3 9 Gear1 Shaft 10 Gear2 Shaft 11 Gear3 Shaft 12 Bearing2 13 DC Motor 14 PCB Ass 15 Screw1 16 Screw2 17 Ext Cover 18 Screw3 Figurel 8c Blow Up Picture 12 7 pe j series User s Manual v1 0 1 9 Electrical amp Control Specifications e Communication Mult drop Full Duplex UART serial communication e Baud Rate 4 800bps 921 600bps 8 levels e Extension Max 254 modules per channel ID 0 253 e DC motor type Precious metal brush DC motor Operation Voltage 6VDC IOVDC 7 AVDC 8 4VDC
26. anual v1 0 wCK series X Mode 7 0 30 Data2 0x17 Data3 Speed 0 30 Data4 Accel 20 100 Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet None e g Set the runtime speed and acceleration range of a wCK module with ID 0 Speed 30 Accel 100 Command Packet eo so o Response Packet None 18 Over Load Set Over Load Set command sets the over load boundary of a wCK module caution If a wCK module detect over load status it automatically turns into Passive wCK mode X Mode 7 ID 0 30 Data2 OxOF Data3 33 199 49 71 ie e User s Manual v1 0 wCK series Data4 Data3 Checksum Datal XOR Data2 XOR Data3 XOR Data4 AND 0x7F gt Response Packet X new overload 33 199 e g Set over load of a wCK module with ID 0 to 104 actual current is 1000mA Command Packet 19 Over Load Read Over Load Read command makes a wCK module to read the value of its over load boundary 50 71 e User s Manual v1 0 Header OxFF Datal Mode 7 ba X Mode 7 0 30 Data2 0x10 Data3 Arbitrary Value Data4 Data3 Checksum Datal Data2 Data3 Data4 AND 0 7 gt Response Packet X overload 33 199 e g Command a wCK module with ID 0 to read its over load Command Packet 20 Boundary
27. atal 7 5 4 3 2 1 User s Manual v1 0 wCK series X Mode 7 0 30 Data2 0x08 Data3 0 921600bps 1 460800bps 3 230400bps 7 115200bps 15 57600bps 23 38400bps 95 9600bps 191 4800bps Data4 Data3 Checksum Data2 Data3 Data4 AND Ox7F gt Response Packet new Baud rate new Baud rate X new Baud rate 0 191 e g Set the baud rate of a wCK module with ID 0 to 115200bps Command Packet Response Packet 8 P D gain Set P D gain Set command sets the P gain and D gain of a wCK module It s recommended that user set P gain and D gain according to the formula of P gain 1 5 D gain gt Command Packet Header OxFF Datal ____ ___ _7 6 5 4 35 2 1 090 X Mode 7 0 30 Data2 0x09 40 71 gus User s Manual v1 0 wCK series Data3 new P gain 1 254 recommended Data4 new D gain 0 254 recommended Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet new P gain 1 254 new D gain 0 254 e g Set the P gain and D gain of a wCK module with ID 0 P gain 100 D gain 100 Command Packet 9 P D gain Read D gain Read command makes a wCK module read the values of P gain and D gain gt Command Packet Header OxFF Datal I ___ 6 EA X Mode 7 ID 0 30 Data2 0x0A Data3 Arbitrary Value Data4 Data3 Checksu
28. bots It is the first block type robotic module in the world that has joint insert assembly structure This quick and simple joint assembly scheme enables users to simply plug a plastic joint part into wCK modules to complete linking two different wCK modules mechanically which helps reduce building time dramatically Internally a control board and a servo actuator mechanism are integrated together inside the small plastic enclosure wCK module itself can operates as a small independent robot system because it is equipped with external I O ports and can run a self running motion program wCK module adopted PID motion control technology and realized motion control characteristics as precise and accurate as industrial servo motors Users can design and build robotic systems with multi axis articulated mechanism much more easily and efficiently by adopting wCK robotic module It s because wCK module is designed for users to easily extend and do troubleshooting and maintenance Figure 1 1a Picture of wCK module packaged wCK 1108T wCK 1108K wCK 1111K 1413 Figure 1 1b Picture of wCK module 3 71 id User s Manual v1 0 wCK series 1 2 Model Listing Max Power Max Torque Option 1 1 0 Black Standard gt Transparent LED Figure 1 2a Model Name Scheme e The series name wCK comes from the sound Wingchick that the actuator module makes when in motion os 4 4 1
29. cket User s Manual v1 0 wCK series Motion Count Motion Count Motion Count 0 8 e g Set selfrunning motion to wCK module with ID 0 shuttle between position 82 and position 172 Command Packet per Foxe on on c oo os o Response Packet Ibyte 25 Motion Data Read Motion Data Read command make wCK module to read the number of instruction lines of a self running motion program gt Command Packet ac pea Header OxFF Datal ae ee 0 X Mode 7 ID 0 30 Data2 97 Data3 Arbitrary Value Data4 Data3 Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet Motion Count Motion Count X Motion Count 0 8 5 6 7 1 pe qim User s Manual v1 0 wCK series e g Command wCK module with ID 0 to read the line number of instructions Command Packet Lm oo oe Response Packet Motion Count Motion Count 1 410 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 gt Command Packet pai pas pas Cem Header OxFF Datal _7 6 5 4 3 2 1 0 X Mode 7 Data2 Oxc8 Data3 ID 0 253 Data4 Torque 0 254 Data5 target position Upper H3 3 2
30. e Packet in return Controller Command Packet Response Packet Figure 2 3a Communication Command Packet o d F header datai datai checksum datai data2 4 Response Packet Figure 2 3b Protocol Structure XS oo wuwE S Caley ct 22771 User s Manual v1 0 series Summary of Protocol Commands Below 15 the summary of protocol commands required to control a wCK module For detailed explanation of protocol commands please refer to appendix 1 Communication Protocol 8 bit Command Set Command Extended Command 10 bit Command 1 Position Move Move Position Command 2 Synchronized Position Move Synchronized Move Position Command used to control multiple wCK modules 3 Status Read Read Torque and Position 4 Passive wCK Passive Mode Sensor Mode Command 5 Wheel wCK 360 Wheel Mode Command 6 Break Break Mode Power saving Command 7 Baud rate Set Baud rate Setting Command 8 P D gain Set P gain D gain Setting Command 9 P D gain Read Read P gain and D gain 10 I gain Set I gain Setting Command 11 I gain Read Read I gain 12 Runtime gain Set Runtime P gain D gain Setting Command 13 Runtime I gain Set Runtime I gain Setting Command 14 ID Set ID Setting Command 15 Speed Set Speed Acceleration range Setting Command 16 Speed Read Read Speed Acceleration range 17 Runtime Speed Set
31. es Break Mode stops the motion of a wCK module and thus help hold still a system s mechanical structure without consuming electric power by using dynamic break effect Once break mode applied all wCK modules connected on a single channel turn into Break Mode 3 10 External I O Port wCK module has 1 channel of A D input 0V 5V and 2 channels of Digital Output TTL level PIN arrangement of external I O ports Figure 3 10 Extemal I O Port amp Pin Arrangement Mn AE Od m we n 4 User s Manual v1 0 wCK series 3 11 Self running Motion wCK module s self running motion enables users to build a simple and compact stand alone system without using a separate external controller The programming logics used in the vCK programmer when creating a self running motion is shown as in table below Self running motion is activated only when the No of Instruction is more than 0 Please refer to appendix A 1 3 extended command 24 Motion Data Write for its relationship with the structure of Command Packet Motion Command 1 Byte Motion Data 1 Byte 1 Position Control Speed 0 4 8 bit Position Value Passive RU 2 Power Down 3 Wheel 4 Wheel CW 3 Delay Time Max 4 095 ms Upper 4 bit delay value Lower 8 bit delay value in ms amp DIO breed pod culpa vat 1 f t D 2 Motion Type The Speed value in Wheel 0 15 2 5 Position Conditional Decision 3
32. help hold still system s mechanical structure without consuming electric power by using dynamic break effect Passive Sensor Mode In passtve mode wCK release torque and acts as a sensor Reverse voltage Protection Over current Protection Protection circuits built in for reverse voltage and over current Initialization of ID and Baud Rate wCK ID and baud rate can be initialized for debugging or troubleshooting purpose Two Metal Bearings for Mechanical Durability Mechanical durability is ensured with two metal bearings applied on rotation axis 1 5 Control Scheme wCK module can be controlled by RoboBuilder s RBC controller general puupose MCUs as well as directly by a PC In case of using RBC controller wCK module can be directly plugged onto the connectors of RBC controller because wCK module has signal adjusting circuit built in and adjust signal levels between PC RS 232 signal level and wCK module TTL signal level A separate signal regulating circuit may be required when using a MCU or a PC to control wCK module RoboBuilder provides separately this signal adjustment circuit board refer to Appendix A 2 for detail Robot Platform RS232 or Wireless Bluetooth PC RBC Controller wCK module system Figure 1 5a Using RBC controller 7 71 2 User s Manual v1 0 wCK series Robot Platform RS232 or Wireless Bluetooth Full Duplex UART serial wCK module system Figure 1
33. is function is very useful m motion controlling a multi axis robotic systems 3 3 Passive Mode Passive wCK Mode ts used to release the torque out of the axis of the wCK module and so that the rotation axis is moved smoothly by external force which means wCK module play the role of a sensor 3 4 Speed Acceleration Setting User can select and change the levels of speed from 0 to 30 and acceleration range from 20 to 100 of a wCK module 3 5 Movement Boundary Setting User can set the movement boundary range of a wCK so that wCK can move only within the specified range of rotation angle This function is useful for applications that requires a motion in a narrow range of movement angle is critical 3 6 Reverse voltage Protection wCK module has reverse voltage protection circuit built in inside to protect from user s wiring mistake 3 7 Over current Protection wCK module has over current over torque protection circuit built in inside to protect product from excessive external force and protect user from injury A range of from 33 to 199 is selectable for actual scale of current from 400 mA to 1 800 mA 3 8 Wheel Mode Using module s 360 Wheel Mode a user can build a system that requires a spinning motion at a specified rotation speed Spinning in either clock wise direction and counter clock wise direction is selectable and 16 levels of speed can be set up 3 9 Break Mode 30 71 qu User s Manual v1 0 wCK seri
34. l GetByte TIME OUT2 Data2 GetByte TIME OUT2 if Datal NewLBound amp amp Data2 NewUBound return 1 return 0 ke ae aea ak e ae oe ak oie ke ak oe zh oe ie oie oe zh oe oe sk oe e she oe zh oe ie sk ez oe ie sk e Function that sends Boundary Read Command to wCK module Input ServoID NewLBound NewUBound Retum 1 if succeed 1f fail xii PR PR PR sk sk esie sisi ak sese ak zie ak aie ake oe zie akk oes AC char BoundRead char ServoID char L Bound char UBound SendSetCommand 7 lt lt 5 ServoID 0x12 0 0 Bound GetByte TIME OUTI UBound GetByte TIME OUT1 if LBound lt UBound return 1 return 0 of Basic Functions Definition A 5 Default Parameter Settings Baud Rate 7 115 200 bps e P gain 20 e D gain 30 gain 0 wCK module ID 0 e Movement Speed 0 No speed limit Acceleration Range 60 Over current 33 400mA e Control Angle Range 1 254 1 254 e Motion Program Writing O Self running Motion inactivated wCK protocol definition Command Packet Ei 65432 1107 6 51432 11017 65 43211 0107 65141312111 0471615141312 1104761514131 2111047161514 3121110471615 43121110716 54321110 ____ 7654321 01 65432 1 0 C ID target position cecs Eu Poston Move e PS P L L
35. m Datal Data2 Data3 Data4 AND Ox7F 41 71 Pie User s Manual v1 0 wCK series gt Response Packet X P gain 1 254 D gain 0 254 e g Command wCK module with ID 0 to read tts P gain and D gain Command Packet 10 I gain Set I gain Set command sets the I gain of a wCK module gt Command Packet Header OxFF Datal D EXEGEX X Mode 7 ID 0 30 Data2 0x15 Data3 new I gain 0 10 recommended Data4 Data3 Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet new I gain 0 10 42 71 User s Manual v1 0 wCK series e g Set the I gain ofa wCK module with ID 0 to 100 Command Packet Ox15 Response Packet 11 I gain Read I gain Read command makes a wCK module read the value of I gain gt Command Packet Header OxFF Datal ____ ____ X Mode 7 ID 0 30 Data2 0x16 Data3 Arbitrary Value Data4 Data3 Checksum Datal Data2 Data3 Data4 AND Ox7F gt Response Packet X I gain 0 10 e g Command a wCK module with ID 0 to read its I gain Command Packet User s Manual v1 0 wCK series Response Packet 12 Runtime P D gain Set Runtime P D gain Set command set the runtime P gain and D gain of a wCK module When power cycled the gains return to their original values gt Command
36. n GraphView MotionPrograming I 852 Command Move 0 1054 Move Move Torq 0 Ex 1 0 0 Pad Qa Non Non Return Value area Figure 2 4 wCK Programmer Screen Layout Basic Setting Special Setting Motion Control Graph View Motion Programming Set Orerl org Set OverT ord Figure 2 4b Setting amp Programming Area cx ues E TU gec 26 71 User s Manual v1 0 series 3 CONTROL FUNCTIONS 3 1 Position Control The Position Control of wCK module is a function that a user ask wCK module to go to a specific position target position in the unit of control angle then the wCK module moves to that specific position to complete the command The actual physical displacement 1s different from control angle depending on the control resolution in which wCK operates 0 269 0 333 Standard Resolution High Resolution Control Angle is a conceptual angle that controller use to calculate and control internally while Movement Angle means the actual displacement of angle that a wCK module makes to move to a target position angle Unit Angle 15 the physical displacement of rotation angle caused by executing a single unit of Control Angle Control Angle 0 254 Standard Resolution 0 1 022 High Resolution Movement Angle 0 269 Standard Resolution 0 333 High Resolution
37. nd Packet to receiving its Response Packet 24 71 User s Manual v1 0 Baud Rate 4800 9600 38400 57600 115200 Command bps bps bps bps bps Position Move 13159 7083 2517 1354 1180 Position Read 13159 7083 2517 1354 1180 Passive 13159 7083 2517 1354 1180 Break 13159 7083 2517 1354 1180 Wheel wCK 13159 7083 2517 1354 1180 Read Gain 17326 9166 3038 1701 1354 Read Resolution 17326 9166 3038 1701 1354 Read Load Range 17326 9166 3038 1701 1354 Read Boundary 17326 9166 3038 1701 1354 Baud Rate Set 136144 127950 122829 121492 121145 Gain Set 136144 127950 122829 121492 121145 ID Set 136144 127950 122829 121492 121145 Resolution Set 136144 127950 122829 121492 121145 Load Range Set 136144 127950 122829 121492 121145 Boundary Set 136144 127950 122829 121492 121145 2 4 Software wCK series Users need to use programmer the developer s software tool in order to use and control wCK module Windows based programmer is used to configure all settings and parameters execute and simulate commands create and edit self running motion program Refer to separate user s guide to understand the details about wCK programmer 25 7 series User s Manual v1 0 ComPort Check area Setting amp Programming area Z Setting amp Programming BasicSetting SpecialSetting ActionCo
38. ng 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 Ichannel A D input 0V 5V 2channels Digital Output TTLlevel e Self running Motion wCK can run a motion and sensor interaction by itself without being controlled by external controller e 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 e Windows based Programming Software Windows based software such as wCK programmer Motion Builder Action Builder e Wide range of Input Voltage Wide range of input voltage 6VDC 10VDC Wide range of Control Angle 6 71 2 User s Manual v1 0 wCK series 07 269 in standard resolution 0 333 m high resolution e Power saving Break Mode Break mode stops the motion of a wCK module and thus
39. oe e zh oe ese oe zie e oe RF akk e 2 void SendSetCommand char Data char Data2 char Data3 char Data4 char CheckSum CheckSum Datal Data2 Data3 Data4 amp 0x7f SendByte HEADER SendByte Datal SendByte Data2 SendByte Data3 SendByte Data4 SendByte CheckSum PR PR PR ARR AR ez oe zie e ak e she zh oe ie she e zh oe ie oe ie zh oe oe ie AC oe rhe AC AS ake akk Function that sends Position Move Command to wCK module Input ServolD SpeedLevel Position ui Output Current 2 PR PR PR ARR ARAB AE se sie ie zie ae ae oe sie oe e zh ode oe she oe sk AC oe ie she zh ak ake ae akk aie ae ae char PosSend char ServoID char SpeedLevel char Position char Current SendOperCommand SpeedLevel lt lt 5 ServoID Position GetByte TIME OUTI Current GetByte TIME OUTI return Current PR PR PR sk re AR sie zie ak e she e zie oe ake ie zie oie e ake e she oe sk oe e akk ae RZ Function that sends Position Read Command to wCK module sa Input ServoID i Output Position PR PR PR ARR zie ak oe she e zh oe ie oe ale oe zie AC oer C2
40. r s Manual v1 0 wCK series 2 2 Electrical Connection Wiring Depending on controller type the electrical wiring structure 1s different as shown in below Figure 2 1a and Figure 2 2b When using a MICOM its connected directly 0 When using a PC it is connected TXD lines through 232board to TDX RXD lines Figure 222a Using MICOM Figure 2 26 Using a PC Figure 2 2c wCK module cable Figure 2 2d PC Connection Cable User s Manual v1 0 wCK series Connectors wCK module has two built in connectors on both sides of the body The two connectors are electrically connected in parallel internally so the module is ready to communicate if either one of the two connectors are plugged The other one is used to extend to another wCK module The connectors at both ends of a wCK module cable are designed specially so that they can t be plugged turned inside out which eliminates the risk of making a wiring mistake Q Q 0 D Ground TXD RXD Vcc Figure 2 2e wCK module Cable Connector amp Pin Arrangement i Sas e Mn User s Manual v1 0 wCK series 2 3 Communication Protocol wCK module adopted a dedicated special communication protocol named Multi drop Full Duplex UART two way serial communication protocol Basically the communication 15 carried out in a repeated cycle of that Controller sends Command Packet to wCK module and then wCK module sends back Respons
41. ree Wheel wCK Command Input ServoID SpeedLevel RotationDir Return Rotation Number sk sk resi sie esie e zie oe zie ak e ae oe ie oe e zh oe oe char Rotation360 char ServoID char SpeedLevel char RotationDir char ServoPos RotNum if RotationDir ROTATE CCW 66 71 User s Manual v1 0 wCK series SendOperCommand 6 lt lt 5 ServolD ROTATE CCW lt lt 4 SpeedLevel j else if RotationDir ROTATE CW SendOperCommand 6 lt lt 5 ServoID ROTATE CW lt lt 4 SpeedLevel j RotNum GetByte TIME OUTI GetByte TIME retum RotNum RF Tk sk sl ak ae aea ak aeae ak aie ak e ake ak akk rhe oe Function that sends Synchronized Position Move Command to wCK module Input LastID SpeedLevel TargetArray Index i Return None ui PR PR T sk rie esie se e rie esie oe zie ak e ae oe ie oe e she akk void SyncPosSend char LastID char SpeedLevel char l argetArray char Index i int 1 char CheckSum 170 CheckSum 0 SendByte HEADER SendByte SpeedLevel lt lt 5 Ox 13 SendByte LastID 1 while 1 if i LastID break SendByte TargetArray Index LastID 1 H CheckSum CheckSum TargetArray Index LastID 1 iH j CheckSum CheckSum amp 0x7f SendByte CheckSum Free
42. tion 0x7F 127 at torque Command Packet Response Packet None 3 Status Read Status Read command makes wCK module read its current load and current position 35 71 gu User s Manual v1 0 wCK series gt Command Packet Header OxFF Datal D ES Ea X Mode 5 ID 0 30 Data2 Arbitrary Value Checksum Datal Data2 AND 0 7 gt Response Packet Ibyte X Load 0 254 Position 0 254 e g JCommand wCK module with ID 0 to read its status Command Packet Response Packet 4 Passive Passive command makes wCK module return the value of current position and release torque from the rotation axis so that it can be moved freely by external force gt Command Packet User s Manual v1 0 series Datal o 76154 32 X Mode 6 ID 0 30 Data2 1 Arbitrary Value _7 6 5 4 3 2 1 0 X 1 Checksum Datal Data2 AND Ox7F gt Response Packet X Position 0 254 e g JCommand wCK module with ID 0 to turn into Passive wCK mode Command Packet Response Packet 5 Wheel wCK Wheel wCK command makes wCK module carry out 360 revolving motion 16 different speed levels are selectable gt Command Packet Header OxFF Datal NC _7 5 4 3 2 1 37 71 User s Manual v1 0 wCK series X Mode 6 ID 0 3
43. to 30 Command Packet 15 Speed Set Speed Set command sets the speed and acceleration range of a wCK module 46 7 1 _ qim User s Manual v1 0 wCK series gt Command Packet Header OxFF Datal ae _ ES X Mode 7 0 30 Data2 0x0D Data3 Speed 0 30 Data4 Accel 20 100 Accel acceleration range Checksum Datal Data2 Data3 Data4 AND 0x7F gt Response Packet new speed new accel new speed 0 30 new accel 20 100 e g Set the speed and acceleration range of a wCK module with ID 0 Speed 30 Accel 100 Command Packet eo o Response Packet 16 Speed Read Speed Read command makes a wCK module to read values of its speed and acceleration range gt Command Packet 47 71 User s Manual v1 0 wCK series Header OxFF Datal O D 6 X Mode 7 ID 0 30 Data2 OxOE Data3 Arbitrary Value Data4 Arbitrary Value Checksum Datal XOR Data2 XOR Data3 XOR Data4 AND Ox7F gt Response Packet speed 0 30 accel 20 100 e g Command wCK module with ID 0 to read its speed and acceleration range Command Packet 17 Runtime Speed Set Runtime Speed Set command sets the runtime speed and acceleration range of a wCK module gt Command Packet ID _7 5 4 3 2 1 0 48 7 1 _ qim User s M
44. various and complex articulated structure quickly and efficiently 1 3 7 l _ qim User s Manual v1 0 wCK series Connection 1 Connection 2 Connection 3 Pentagon shaped Axis Junction Body Junction Whenall 3 junctions connected with joints Junction Figure 2 1a Joint Connection Scheme A variety of mechanical structures are available using the joints shown below in Figure 2 1b When connecting a joint with wCK module the junction is held tight even without screwing bolts which is very effective and helpful for users to invent creative structures in designing a new robotic system Joint sold separately as option Figure 2 1b Joint Type 14 71 User s Manual v1 0 Joints are grouped as below according to different points of connecting junction wCK series Pentagon shaped Junction Axis Junction Pentagon shaped Junction Body Junction Axis Junction Body Junction Body Junction Body Junction Axis Junction Axis Junction JOINT 11 Figure 2 1c Joint Type for Different Connection 15 71 JOINT 12 User s Manual v1 0 1 6 JOINT 2 3 series Figure 2 1d Type for Connection Styles User s Manual v1 0 wCK series JOINT 4 E JOINT 6 User s Manual v1 0 wCK series JOINT 7 JOINT JOINT 9 User s Manual v1 0 wCK series JOINT 10 JOINT 11 ass JOINT 12 Use
45. wCK series 551 family using Timer 1 Mode 1 Clock Mhz SMOD THI Baud Rate bps Error 7 3728 0 252 4800 0 7 3728 248 4800 0 7 3728 0 254 9600 0 7 3728 252 9600 0 7 3728 255 38400 0 11 0592 0 250 4800 0 11 0592 244 4800 0 11 0592 0 253 9600 0 11 0592 250 9600 0 11 0592 255 57600 0 14 7456 0 248 4800 0 14 7456 1 240 4800 0 14 7456 0 252 9600 0 14 7456 1 248 9600 0 14 7456 0 255 38400 0 14 7456 1 254 38400 0 22 1184 0 244 4800 0 22 1184 1 232 4800 0 22 1184 0 250 9600 0 22 1184 1 244 9600 0 22 1184 1 253 38400 0 22 1184 0 255 57600 0 22 1184 1 254 57600 0 22 1184 1 255 115200 0 amp 0 196 1 Clock Mhz SP BAUD Baud Rate bps 9 7 3728 805 4800 0 7 3728 802 9600 0 7 3728 8008 38400 0 7 3728 8007 57600 0 7 3728 8003 115200 0 11 0592 4800 0 11 0592 8047 9600 0 11 0592 8011 38400 0 11 0592 8008 57600 0 11 0592 8005 115200 0 14 7456 4800 0 14 7456 805F 9600 0 14 7456 8017 38400 0 14 7456 800F 57600 0 61 71 User s Manual v1 0 series 14 7456 8007 115200 0 14 7456 8003 230400 0 ePIC family Clock Mhz BRGH SPBRG Baud Rate bps Error 3 6864
46. ze se ie she e sk sese ae ke zh esie oe zh oe ie oe ie oh oe e ie e ie akk akk ie rete reine Function that sends Baud rate Set Command to wCK module ai Input ServoID NewBaud T Return New Baudrate if succeed Oxff 1f fail t FR rk k ak sie e sk aeae ae ak ak zh akale ode ie oe ake cie e oe ie rhe akk zh oe ie akk iere ie ale reine char BaudrateSet char ServoID char NewBaud i SendSetCommand 7 lt lt 5 ServoID 0x08 NewBaud NewBaud 67 71 User s Manual v1 0 series GetByte TIME OUT2 if GetByte TIME OUT2 NewBaud return NewBaud return PR PR rk sk rl AR oe ie akk akk ale Function that sends Gain Set Command to module Input ServoID NewPegain NewDgain a Return 1 1f succeed if fail i ETE Tk sk rie recie sie sie ak e she ak zie ak oe ake e char GainSet char ServoID char NewPgain char NewDgain char Datal Data2 SendSetCommand 7 lt lt 5 ServoID 0x09 NewPegain NewDgain Datal GetByte TIME OUT2 Data2 GetByte TIME OUT2 if Datal NewPgain amp amp Data2 NewDgain return 1 return 0 PR PR PR sk rk ARF ARAB ak ere ak ak ak oe ake e akk oe eoe oe akk oes AC ere ien Function that
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