Manual

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ID(253), Position Control, Goal Position 512, Red LED On, Operating Time(60 : 672ms)

Example 1

ID(253), Continuous Rotation, Goal Speed 704, Blue LED On, Operating Time(60 : 672ms)

Example 2

6-6. S_JOG

JOG(LSB)

0x00

JOG(MSB)

0x02

0x01

7 8 9 1 0 1 1

SET

0x04

0x0A

0xFD

0x0A

playtime

0x3C

Optional Data

I_JOG_S(0)

0xFF

0 1 2 3 4 5 6

7+(5XI_JOG)

0x0C(12)

Servo ID

0xFD

0x05

(Refer to Checksum Formula)

0x32

0x7E

0xCC

0x80

Header

I_JOG

Example1

Example2

Packet Size pID CMD Check Sum1 Check Sum2

Refer to Packet structure below for explanation of each Bit in I_JOG

Able to use Structure as below for convenience

LSB(Least Significant Bit) first for Bit value

Example1 SET(0x04) is Position Control, Green LED On

typedef struct

{

int iJogData : 15;

unsigned int uiReserved1 : 1;

unsigned int uiStop : 1;

unsigned int uiMode : 1; //0 : Position Control

unsigned int uiLED : 3; //Green, Blue, Red

unsigned int uiJogInvalid : 1;

unsigned int uiReserved2 : 2;

unsigned int ucID : 8;

unsigned char ucJogTime_ms;

} IJOG_TAG

※ Bit Variable size or bit field may vary depending on the compiler or compiler setting,

The above example uses 16 bit variable. The structure byte alignment of the process may

vary as well. The above example uses 1byte alignment as standard.