Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
54
RealtimeFunction(uint8_t motion_speed_rate, uint8_t realtime_function_enable)
Function : Robot Real-time Function Setting
Parameter
- motion_speed_rate : Motion speed rate (Range: 50 ~ 150, Unit: 0.01 x)
- realtime_function_enable : Real-time Function Enable Byte
Bit Definition Description
Bit 0 BALANCE_CONTROL Balance control Enable Bit (1: Enable,
0: Disable)
Bit 1 AUTO_RECOVERY Auto recovery Enable Bit (1: Enable,
0: Disable)
Bit 2 RESERVED Reserved Enable Bit
Bit 3 RESERVED Reserved Enable Bit
Bit 4 RESERVED Reserved Enable Bit
Bit 5 RESERVED Reserved Enable Bit
Bit 6 RESERVED Reserved Enable Bit
Bit 7 TOTAL_TORQUE Total Torque Enable Bit (1: Enabled, 0:
Disabled)
MotionCaptureEnable(protocol_servo_bit_t pose_capture_enable)
Function : Robot Posture Capture Setting
Parameter
- pose_catpture_enable : Posture Capture Enable Byte (3Byte)
※ Posture Capture Enable Byte 0
Bit Definition Description
Bit 0 CAPTURE_ENABLE_ACTUATOR_0 Actuator #0 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 1 CAPTURE_ENABLE_ACTUATOR_1 Actuator #1 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 2 CAPTURE_ENABLE_ACTUATOR_2 Actuator# 2 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 3 CAPTURE_ENABLE_ACTUATOR_3 Actuator #3 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 4 CAPTURE_ENABLE_ACTUATOR_4 Actuator #4 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 5 CAPTURE_ENABLE_ACTUATOR_5 Actuator# 5 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 6 CAPTURE_ENABLE_ACTUATOR_6 Actuator #6 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 7 CAPTURE_ENABLE_ACTUATOR_7 Actuator #7 Capture Enable Bit (1:
Enable, 0: Disable)
※ Posture Capture Enable Byte 1
Bit Definition Description
Bit 0 CAPTURE_ENABLE_ACTUATOR_8 Actuator #8 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 1 CAPTURE_ENABLE_ACTUATOR_9 Actuator #9 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 2 CAPTURE_ENABLE_ACTUATOR_10 Actuator #10 Capture Enable Bit (1:
Enable, 0: Disable)
Bit 3 CAPTURE_ENABLE_ACTUATOR_11 Actuator #11 Capture Enable Bit (1:
Enable, 0: Disable)