User Manual

北京创兴盛器人术有限公司 UPTECH Robotics
TEL+86-010-8211-4870, +86-010-8211-4887 FAXExt.828 http://robot.up-tech.com
Page 19 of 21
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 19 Position the output of a CDS55xx servo with an ID of 0 to 0° and Position
the output of a CDS55xx servo with an ID of 1 to 300°, and initiate the
movement at the same time.
If the WRITE_DATA is used, the movement of the two actuators
cannot be initiate at the same time, thus the REG_WRITE and
ACTION instructions should be used instead.
Instruction Packet ID=0, Instruction = REG_WRITE, Address = 0x1E, DATA = 0x00,
0x00
ID=1, Instruction = REG_WRITE, Address = 0x1E, DATA = 0xff, 0x03
ID=0xfe(Broadcasting ID), Instruction = ACTION,
Communication ->in: FF FF 00 05 04 1E 00 00 D8 (LEN:009)
<-out: FF FF 00 02 00 FD (LEN:006)
->in: FF FF 01 05 04 1E FF 03 D5 (LEN:009)
<- out: FF FF 01 02 00 FC (LEN:006)
-> in: FF FF FE 02 05 FA (LEN:006)
<- out: //No return packet against broadcasting ID
Status Packet Result NO ERROR
Example 20 Lock all addresses except for Address 0x18 ~ Address0x23 for a
CDS55xx servo with an ID of 0
Set Address 0x2F (Lock) to 1.
Instruction Packet Instruction = WRITE_DATA, Address = 0x2F, DATA = 0x01
Communication ->in: FF FF 00 04 03 2F 01 C8 (LEN:008)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Once locked, the only way to unlock it is to remove the power.
If an attempt is made to access any locked data, an error is
returned. Range Error:0x08.
->in: FF FF 00 05 03 30 40 00 87 (LEN:009)
<-out: FF FF 00 02 08 F5 (LEN:006)
Example 21 Set the minimum power (Punch) to 0x40 for a CDS55xx servo with an ID
of 0
Instruction Packet Instruction = WRITE_DATA, Address = 0x30, DATA = 0x40, 0x00
Communication ->in: FF FF 00 05 03 30 40 00 87 (LEN:009)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR