「V-Sido CONNECT」 コマンドリファレンスマニュアル - V
Contents
1. TTL RS 485 ID RS 485 ID TTL ID ID 128 Asratec Corp All righfs reserved 84 V Sido CONNECT Ver 0 9 3 AN Asratec 8 V Sido CONNECT RC VID V Sido CONNECT RC VID_RS485_Baudrate uint8 t RS485 bps 0 9600 1 57600 2 115200 3 1000000 VID_TTL_Baudrate uint8 t TTL 1 bps 0 9600 1 57600 2 115200 3 1000000 mili VID_RS232_Baudrate uint8 t RS232 bps 0 9600 1 57600 2 115200 3 1000000 VID_IO PA_IO_Mode uint8 t 10 4 7 VID_IO_PA_Analog_Mode uint8 t 4 7 VID_IO PA_PWM uint8 t PWMW O or 1 oo CO VID_IO_PA_PWM_CYCLE L uint16_ VID_IO_PA_PWM_CYCLE H t P2. To AS ua RC ST OP LN SID DAD DLN SUM From V Sido EE 7 SID 7 8 9 SID DAD DLN 6 ID 7 2 2 7 54 SID 1 DAT DLN ST 7 OP 6 LN SID ID DAT V Sido CONNECT RC 2 Asrafec CoOrp All righfs reserved 14 V Sido CONNRCT Ver 0 9 8 V Sido k 4 x Asratec CONNECT RC 2 1bi
3. 9 10 11 12 13 IKF KID KDT ST 7 OP IK 6 LN IKF IK 6 1 IKF Asratec COrp All righfs reserved 26 V 8ido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC KID IK ID 6 3 KID KDT IK 6 2 KDT SUM Asratec CoOrp All righfs reserved 27 V Sido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 4 14 To V Sido CONNECT RC ST a ST NMD WN WT suM WLN 2 7 WLN WDT 7 8 WDT2 ST OP LN WAD WLN WDT SUM 7 7 4 7 7
4. 7 WAD MLN RC 1 2 0 200 0 200 100 0 100 200 100 1 RT WLN 2 2 2 WAD WLN WDT 309 WAD 0 WLN 1 WDT1 130 509 WAD 1 WLN 1 WDT1 150 1009 2096 WAD 0 WLN 2 WDT1 200 WDT2 80 Asratec CoOrp All righfs reserved 28 V Sido CONNECT Ver 0 9 8 VcSido k 4 nw ASratec CONNECT RC From V Sido CONNECT RC ST 5 LN M i SUM ST 7 OP ACK 2 LN
5. Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 1bit SUM Asratec CoOrp All righfs reserved 20 V Sido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 4 9 V Sido CONNECT RC VID To V Sido CONNECT RC ST WwW LN SUM ST OP 2 LN SUM From V Sido CONNECT RC 35CWilN ST 7 OP ACK 2 LN M 1 2 SUM Asratec CoOrp All righfs reserved 21 V Sido CONNRECT Ver 0 9 8 V S1do x Asratec CONNECT RC 4 10 10 GPIO To 6 IID VAL I
6. 1440 1440 726eg Wk RC MAX EA 1440 1440 72eg Wk RC SUM ST 0xFF 2 MIN MAX 2 1bit 1111 0110 0100 1110 1bit 1110 1100 1001 1100 Asratec Corp All righfs reserved 12 V Sido CONNECT Ver 0 9 3 VcSido k 4 nw ASsratec CONNECT RC From V Sido CONNECT RC ST OP ACK 2 LN M 1 2 SUM Asratec CoOrp All righfs reserved 13 V Sido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 4 4
7. Ver 0 9 8 k 4 Vc Sido Asratec CONNECT RC 4 4 1 ID To V Sido CONNECTRO 1 2 a 7 ST 0 LN CYC SID ANGLE SUM 8 SID 8 9 10 SID ANGLE ST 7 ST 0xFF OP 6 LN CYC 7 722 se SID ID 7 254 ANGLE 1440 1440 2 Ideg Wk RC SUM ST 0xFF 2 ANGLE 120deg 0 1deg 1200 1200 2 1111 1011
8. 0or1 1 bit 4 7 I0 bit 4 bit4 1 2 2 4 7 VID 4 8 Asratec CoOrp All righfs reserved 36 V Sido CONNECT Ver 0 9 8 AN Asratec V Sido CONNECT RC V Sido CONNECT RC 0 rom_model_num int16 t 1 2 rom_servo_ID uint8 t ID 3 rom_cW_agl Imt int16 t deg 3600 4 lt 3600 5 rom_ccw_agl_Imt int16t deg 3600 6 lt 3600 7 rom_damper uint8 t 0 254 8 rom_cw_cmp_margin uint8 t 0 1deg 0 254 9 rom_ccw_cmp_margin uint8 t 0 1deg 0 254 10 rom_cw_cmp_slope uint8_t 0 1deg 0 254 11 rom_ccw_cmp_slope uint8 t 0 1deg 0 254 12 r
9. 106 0032 2 4 5 Asratec Corp All righfs reserved 39 V Sido CONNECT Ver 0 9 3
10. RC To V Sido CONNECT RC ST vV LN SUM ST OP LN SUM From V Sido CONNECT RC ST 7 OP LN V 7 700 91 SUM Asratec CoOrp All righfs reserved 31 V Sido CONNRCT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC 5 5 1 V Sido To V Sido CONNECT RC 2 ST LN DATA ST Ox53 LN DATA DATA V Sido DATA 5 2 V Sido To V Sido CONNECT RC 2u ST LN DATA RLEN ST
11. M 1 2 SUM Asratec CoOrp All righfs reserved 29 V Sido CONNRCT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 4 15 Y Z RC To V Sido CONNECT RC ST OP x67 LN SUM From V Sido CONNECT RC ST OP 67 LN AX X 7 22 AY Y 7 2 AZ Z 7 2 SUM V Sido CONNECT 128 0G 32LSB g RC 0G 128 Asrafec CoOrp All righfs reserveQ 30 V Sido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 4 16
12. PUL 4usec 14bit 0 16384 SUM ST 0xFF PUL PUL 2 1bit 1bit From V Sido CONNECT RC ST OP ACK 2 7 Asratec CoOrp All rights reserved 23 V Sido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC LN M 1 2 SUM Asratec CoOrp All righfs reserved 24 V Sido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 4 12 To V Sido CONNECT RC ST J LN SUM ST 7 OP 6 LN SUM From V Sido CONNECT RC 6
13. SID TIM 6 7 SID TIM ST 7 OP 6 LN SID ID TIM usec SUM Asrafec CoOrp All righfs reserveQ 25 V Sido CONNRCT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC 4 13 IK IK To V Sido CONNECT RC IKF KID KDT We SUM 9 IKF KID KDT 9 10 11 12 13 0 IKF KID KDT ST 7 OP IK LN IKF IK 6 1 1IKF 0 254 KID IK ID 6 3 KID 2 KDT IK 6 2 KDT 0 200 SUM IK From V Sido CONNECT RC ST LN IKF KD KDT SUM_ 9 IKF KID KDT
14. SUM IKF IK KID IK ID KDT IK WAD WLN WDT 2 bps 9600 57600 115200 1000000 8 1 Asratec Corp All rights reserved 7 V Sido CONNECT Ver 0 9 8 V Sido Asratec CONNECT RC 3 3 1 Code Hex o 0x6f c 0x63 m 0x6d d 0x64 ID 0x66 r 0x72 VID s 0x73 VID
15. To V Sido CONNECT RC ST 7 OP LN DAD 2 DLN 7 54 SUM From V Sido CONNECT RC ST LN SID DAT ID DAT m SUM m SID 1 DAT DLN ST OP LN SID ID DAT V Sido CONNECT RC 2 2 1bit 1bit SUM Asratec Corp All righfs reserveQ 17 V Sido CONNECT Ver 0 9 3
16. Ver 0 9 8 V Sido k 4 Asratec CONNECT RC 4 8 VID VID To MS UI RC 5 VID 5 6 VID VID ST 7 OP VID x6 LN VID ID 5 ID 0 27 W SUM From V Sido CONNECT RC ST g LN VDT a SUM 5 VID 5 6 n 1 VDT VDT VDT ST 7 ST OxFF OP VID 6 LN VDT 8 V Sido CONNECT RC VID VID VDT 2 2 1bit Asratec CoOrp All righfs reserveQ 19 V 8ido CONNECT
17. ID ID 1 RS 485 TTL 7 2 ID ID 16 ID 10 0x02 2 0x80 128 RS 485 ID 0x81 129 0x82 130 ID TTL OxFE 254 OxFF 255 1 ID1 ID 1 ID ID1 2 TTL V Sido CONNECT RC RS 485 TTL 2 1 128 ID
18. 3 Wa1ESa28882 giESKBg BSHeH28 8538 Ba 33 Asratec Corp All righfs reserved 4 V 8ido CONNECT Ver 0 9 8 V Sido nn ASsratec CONNECT RC 6 1 IKF 33 6 2 KDT ER 33 6 3 KID REDE RAN OR EOE TREO Ee POR DR 33 7 ID ee ea en ns 34 7 1 ID PRO LCCN OPO PSS NRC TE ER ONC OP 0 POE NCO O70 34 7 2 ID 34 8 V Sido CONNECT RC VID CR 35 V Sido CONNECTRC ee 37 Asratec Corp All rights reserved 5 V Sido CONNECT Ver 0 9 3 AN Asratec V Sido CONNECT RC 1 V Sido CONNECT RC 1 1 V Sido CONNECT RC n 1 2 3 ST 0P LN SUM 1 ST 0xFF ST OxFF 2 OP 3 LN 4 25
19. V Sido Asratec CONNECT RC 4 7 VID VID To V Sido CONNECT RC ST LN MD W SUM 6 VID VDT VID VDT ST ST 0xFF OP VID LN VID ID 27 7 VDT 8 V Sido CONNECT RC VID 2 2 1bit 1bit SUM From V Sido C 2 ONNECT RC ST 7 OP ACK 2 LN M 1 2 SUM Asrafec CoOrp All righfs reserveQ 18 V Sido CONNECT
20. VID g 0x67 VID w 0x77 V Sido CONNECT VID 10 1 0x69 GPIO PWM p 0x70 PWM j 0x6a IK k 0x6b IK tt 0x74 a 0x61 X Y Z RC v 0x76 RC 3 2 Code Hex 0x53 V Sido CONNECT 0x54 V Sido CONNECT Asratec Corp All righfs reserved V Sido CONNRECT
21. 4 6 4 4 4 4 4 5 4 6 4 4 I 4 6 4 6 4 5 DAD 0 53 4 7 VID 0 21 4 8 5 VID 0 21 4 10 IID 4 7 VAL 4 1 7 Asratec CoOrp All righfs reserved 2 V Sido CONNECT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC IID 6 or 7 4 14 5 5 1 5 2 6 8 ID Asratec CoOrp All righfs reserved 3 V Sido CONNECT Ver 0 9 3 V Sido 6 Asratec CONNECT RC 1 V Sid
22. 44 send speed uint8t 0 1deg sec 45 send cmd_time uint8 t long packet 10msec 46 flg min max uint8_t gt 1 1 0 47 flg_goal_pos uint8t 1 0 48 flg parent_inv uint8 t 49 flg goal slope int16 t 50 1 0 51 flg_check_angle uint8 t 52 port type uint8 t TTL 1 RS485 0 53 servo type uint8 t 1 FUTABA 2 ROBOTIS Dynamixel Communication1 0 3 ROBOTIS Dynamixel Communication2 0 Asratec Corp All righfs reserved 38 V Sido CONNRECT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC V Sido CONNECT RC
23. 0100 1110 1bit 1111 0110 0100 1110 1bit 1110 1100 1001 1100 Asratec Corp All righfs reserved 9 V 8ido CONNECT Ver 0 9 3 VcSido k 4 nw ASsratec CONNECT RC From V Sido CONNECT RC ST OP ACK 27 LN M 1 2 SUM Asratec CoOrp All righfs reserved 10 V Sido CONNRCT Ver 0 9 8 k 4 V Sido 4 Asratec CONNECT RC 4 2 0 V Sido CONNECT RC 2 ST 0 LN SID CP1 CP2 MM SUM 7 SID 7 8 9 SID CP1 CP2 ST 7 OP 6 LN SID ID 7 254
24. 0x54 LN DATA 1 n DATA V Sido DATA R_LEN From V Sido CONNECT RC Asratec Corp All righfs reserved 32 V Sido CONNECT Ver 0 9 3 V Sido k 4 nn ASsratec CONNECT RC 6 IK 6 1 IKF MSB LSB 0 0 6 2 KDT 100 100 100 100 100 100 X y Zz Rx Ry Rz Tx Ty Tz 100 100 0 200 RC RC KID2 5 Asratec CoOrp All righfs reserved 33 V Sido CONNECT Ver 0 9 3 V Sido k 4 Asratec CONNECT RC 7 ID 7 1
25. 4 SUM SUM XOR ST 0OxFF 1 2 ST OxFF OP LN byte CYC SID ID ANGLE MIN MAX CP1 CP2 AX X AY Y AZ Z TIM V Asratec Corp All righfs reserved 6 V Sido CONNECT Ver 0 9 8 V Sido Asratec CONNECT RC a lt DAT VID ID VDT IID GPIO VAL 10 PUL DAD DLN
26. CP1 1 250 726eg amp CP2 1 250 726eg U amp SUM From V Sido C ml 1 1zls ONNECT RC n ST 7 OP ACK 2 LN M 1 2 SUM Asrafec CoOrp All righfs reserveQ 11 V Sido CONNRCT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC 4 3 To V Sido CONNECT RC 2 A ER n ST mm LN sD MiN MAX sUM 9 SID 9 10 11 12 13 SID MIN MAX ST ST 0xFF OP 6 LN SID ID 7 MIN
27. ID VAL ST 7 OP 10 69 LN IID GPIO 4 7 V Si do CONNECT RC PA4 PA7 VAL I0 Oor1 QO A 1THHhP SUM From V Sido CONNECT RC ST 7 OP ACK LN M 1 2 SUM Asrafec CoOrp All righfs reserveQ 22 V Sido CONNRECT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC 4 11 PWM PWM To GS uu RC 7 IID PUL 7 8 9 IID PUL ST ST 0xFF OP PMM LN IID GPIO 6 or 7 V Sido CONNECT RC PA6 PA7
28. V Sido k 4 Asratec CONNECT RC V Sido CONNECT Ver 0 9 3 Asratec CoOrp All righfs reserved 1 V Sido CONNECT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC 2015 03 05 0 9 0 V Sido CONNECT RC 2015 03 09 0 9 1 2015 04 26 0 9 3 1 1 2 4 1 1 RT DAT M 3 RC 3 2 4 RC SID 1 254 ST 4 4 6
29. W 0 16384 4usec VID_Through_Port uint8 t VID_Servo_lype_RS485 uint8 t RS485 0 1 FUTABA 2 ROBOTIS ver1 0 3 ROBOTIS ver2 0 VID_Servo_lype_ITL uint8 t TTL 0 1 FUTABA 2 ROBOTIS ver1 0 3 ROBOTIS ver2 0 VID_IMU_Type uint8 t IMU 0 2 MPU9150 12 Reserved uint8 t 13 VID_Theta_Th uint8 t 1 100 0 1 VID_Cycletime uint8 t 1 lt 100 10mse Asratec Corp All righfs reserved 35 V Sido CONNECT Ver 0 9 8 V Sido hb 4 ASsratec CONNECT RC 15 VID Min_Cmp uint8 t 1 250 deg 16 VID Flag_Ack uint8_t Ack 0 or 1 17 VID_Volt_Th uint8_t 60 lt 90 0 1V 18 VID_Initialize_Torque uint8_t 0 or 1 19 VID_Initialize_Angle uint8 t 0or1 20 VID_Inspection Flag uint8 t 0or1 21 VID_Inspection_Type uint8 t
30. o CONNECT RC ERR 6 1 1 V S do CONNECT RC SNR NER RE mS 6 1 2 ii 6 PP 7 3 Ne RRO 8 3 1 OR OR RE RK TE 8 3 2 8 4 ET PERPPCEPEY EPCETE PSP EYKTEDPPED TEE 9 4 1 RE ARR RRR EA TE 7 9 4 2 PDD 1 11 4 3 rrr 12 4 4 EK CRET PEUTK EPCETG EE PET 14 4 5 ID RN RR RR TE 7 16 4 6 17 4 7 VID 0 1 110 10 0 18 4 8 VID ee 19 4 9 ee 21 4 10 IO eT 22 4 11 PWM DTD KEYP TE T 23 4 12 as Ns 25 4 13 IK NR RR oO 40 NP 26 4 14 ere 28 4 15 ieee 30 4 16 PC EK EE FUTE OPT 31 5 09788 008B5P80RNGEEes 8878PHH3N SNGR2BSItRe 32 SN 32 5 2 mi 32 6 IK
31. om_punch uint8 t 0 01 13 rom_goal_pos int16_t 14 15 rom_goal tim int16t 10msec 16 17 rom max_torque uint8 t 18 rom_torqgue_mode uint8 t 0 off 1 on 2 break 19 rom_pres_pos int16 t 0 1deg 20 21 rom Dres_ time int16t 10msec 22 23 rom_pres_spd int16t 24 25 rom_ pres_curr int16 t mA 26 27 rom_pres_temp int16t C 28 29 rom pres_volt int16_t 10mV 30 31 Flags uint8 t Asratec Corp All righfs reserved 37 V Sido CONNECT Ver 0 9 8 V Sido Asratec CONNECT RC 32 alg_ofset int16 t deg 33 34 parents_ID uint8 t ID 35 connected uint8 t 0 1 36 read_time int16t msec 37 38 ram goal pos int16t 0 1deg 39 40 ramgoal pos int16t 0 1deg 41 42 ramres_pos int16t 0 1deg 43
32. t 1bit SUM Asratec CoOrp All righfs reserved 15 V 8ido CONNECT Ver 0 9 3 V lt Sido Asratec CONNECT RC 4 5 ID ID To V Sido CONNECT RC eSH9083IBiS ST OP ID 6 9 LN SID ID 5 SID 7 SUM From V Sido CONNECT RC 2 ST OP ACK LN M 1 2 SUM Asrafec CoOrp All righfs reserveQ 16 V Sido CONNECT Ver 0 9 8 V Sido k 4 Asratec CONNECT RC 4 6 ID ID
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