Data Sheet

Table 6: Requested and ACK packets for S-SOG (0x06) CMD
(1) Requested packet for S-JOG CMD
1 2 3 4 5 6 7 8 +4 +(n-1)*4
header header size ID CMD check_
sum_1
check_
sum_2
play
time
S-JOG
data
...
0xFF 0xFF 8+4*n 1~20,
254
0x06 0xXX 0xXX 0xXX (6-1) ...
Note: n=number of motor IDs send.
(6-1) S-JOG data
1 2 3 4
goal.lsb goal.msb set ID
0xXX 0xXX 0xXX 1~20
Note: (1) goal=0~1023; (2) goal position may not be reached for a short play time;
(3) set = 0 (position control) / 1 (speed control) / 2 (torque off) / 3 (position
control servo on)
(2) ACK packet for S-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 0x46 0xXX 0xXX 0xXX 0xXX