User Guide

9.3 SetJoints Command
To set a new joint value messages with the first byte 0x04 are used:
Message ID: board id
Protocol: Command Velocity PositionH PositionL TimeStamp
Command: 0x04
Velocity: not used
Position: 16 bit unsigned long from 0 to 65535.
TimeStamp: Arbitrary number, the module will copy this code in the answer
Example: 0x20 - 0x04 0x13 0x7D 0x68 0x51
The boards answer provides information on the actual position, the moment and
motor current. The message ID used is ID+1
Protocol: ErrorCode Velocity PositionH PositionL Shunt TimeStamp
SupplyVoltag Din
Example: 0x21 - 0x04 0x00 0x7D 0x6A 0x05 0x51 0xB5 0x06
The supply voltage byte sends the current voltage on the controller board (only
available on the Slider mobile Platforms)
The last byte of the answer, Din, encodes the digital inputs of the according joint
module in binary format. The base digital inputs are found on board 0x10.
9.4 SetVelocity Command
To set a velocity to the motor the first byte 0x05 is used:
Message ID: board id
Protocol: Command Velocity TimeStamp
Command: 0x05
Velocity: Velocity value from -max (0) to +max (255). 127 is zero.
TimeStamp: Arbitrary number, the module will answer with this code
Example: 0x20 - 0x05 0x90 0x51
The boards answer follows the SetJoints answer.