Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
56
Bit 4 REPEAT_LOWER_POSE_EXCHANGE Repeat section lower pose L-F Swap Bit
(1: Enable, 0: Disable)
Bit 5 REPEAT_UPPER_POSE_EXCHANGE Repeat section Upper pose L-F Swap Bit
(1: Enable, 0: Disable)
Bit 6 RESERVED Reserved Bit
Bit 7 RESERVED Reserved Bit
StoreActivityProperty (uint8_t motion, uint8_t step_size, uint8_t repeat_start_step,
uint8_t repeat_end_step, uint8_t repeat_acceleration_rate,
uint8_t repeat_acceleration_count, uint8_t next_motion,
uint8_t motion_function_enable_byte, char *motion_name )
Function : Robot Motion Property Save
Parameter
- motion : Motion number (Range: 0 ~ 199)
- step_size : Motion Step size (Range: 0 ~ 23)
- repeat_start_step : Repeat start step (Range: 1 ~ 22)
- repeat_end_step : Repeat end step (Range: 1 ~ 22)
- repeat_acceleration_rate : Repeat section acceleration rate (Range: 100 ~ 250, Unit: 0.01 x)
- repeat_acceleration_count : Repeat section acceleration count (Range: 0 ~ 15)
- next_motion : Next Motion (Range: 0 ~ 200, No Motion : 255)
- motion_function_enable_byte : Enable byte for Motion Function
※ Motion Function Enable Byte Definition
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 FIRST_STEP_MOVE_TIME_AUTO_CALCULATE First step move time automatic
calculate Bit (1: Enable, 0: Disable)
Bit 3 REPEAT_ENABLE Motion repeat enable bit (1: Enable, 0:
Disable)
Bit 4 REPEAT_LOWER_POSE_EXCHANGE Repeat section lower pose L-F Swap Bit
(1: Enable, 0: Disable)
Bit 5 REPEAT_UPPER_POSE_EXCHANGE Repeat section upper pose L-F Swap Bit
(1: Enable, 0: Disable)
Bit 6 RESERVED Reserved bit
Bit 7 RESERVED Reserved bit
- motion_name : Motion name (60 characters)
FeedBackRobotData(uint8_t feedback_num, protocol_header_t *recv_buf_head)
Function : Robot Data Feedback Request
Parameter
- feedback_num : Feedback Request Data ID
ID Definition Description
1 PACKET_feedback_ack Command reception check
2 PACKET_feedback_robot_status Robot Present Status
3 PACKET_feedback_zero_position Robot Actuator Standard position value
4 PACKET_feedback_base_parameter Robot Basic Setting
5 PACKET_feedback_default_pose Robot Basic Posture
6 PACKET_feedback_pose_capture Robot Current Posture
7 PACKET_feedback_execute_robot_motion Robot Motion execution feedback