Data Sheet

Table 5: Requested and ACK packets for I-JOG (0x05) CMD
(1) Requested packet for I-JOG CMD
1 2 3 4 5 6 7 +5 +(n-1)*5
header header size ID CMD check_
sum_1
check_
sum_2
I-JOG
data
...
0xFF 0xFF 7+5*n 1~20,
254
0x05 0xXX 0xXX (5-1) ...
Note: n=number of motor IDs send.
(5-1) I-JOG data
1 2 3 4 5
goal.lsb goal.msb set ID playtime
(unit:10 msec)
0xXX 0xXX 0xXX 1~20 0xXX
Note: (1) goal=0~1023; (2) play time may be modified for a long movement;
(3) set = 0 (position control) / 1 (speed control) / 2 (torque off) /3 (position
control servo on)
(2) ACK packet for I-JOG CMD
1 2 3 4 5 6 7 8 9
header header size ID CMD check_
sum_1
check_
sum_2
status
error
status
detail
0xFF 0xFF 9 1~20 0x45 0xXX 0xXX 0xXX 0xXX