Manual

ManualsBrandsDongbu Robot ManualsHovis / HerculeX PartsHerkuleX DRS-0201 Smart Robot Servo

JOG(LSB)

0x00

PLAY TIME

0x3C(60)

JOG(MSB)

0x02

0x01

7 8 9 1 0 1 1

SET

0x04

0x0A

0xFD

0x0A

Optional Data

S_JOG_S(0)

0xFF

0 1 2 3 4 5 6

7+(5XI_JOG #)

0x0C(12)

Servo ID

0xFD

0x06

(Refer to Checksum Formula)

0x30

0xFE

0xCE

0x00

Header

S_JOG

Example1

Example2

Packet Size pID CMD Check Sum1 Check Sum2

Refer to Packet structure below for explanation of each Bit in S_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; //1 : Speed Control

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

unsigned int uiJogInvalid : 1;

unsigned int uiReserved2 : 2;

unsigned int ucID : 8;

} SJOG_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.