wCK programmer User's Manual
Contents
1. Sat Ext 2 SEF x HJ E 18 25 ER User s Manual v1 Read 10 bit Position This menu is used to read and display the current position value of the connected wCK module in 10 bit mode Scanl0Pos Scanl0Pos Scan Posl Scan Pos10 Set Fox i 2 SPELT OS i 2 m Sef osit Sef Possit Product Information Scan This menu is used to scan the manufacturing information of the wCK module The scanned product information is the data managed by the manufacturer Soa Poder ive Hon Non Sef Arodu Ane Sef Aroedtich Ie Parameter Initialization This menu is used to initialize the parameters of the wCK module It initializes all parameters in BasicSetting and self running motion program Non Mogeim Sef feral ER 19 25 ER User s Manual v1 5 3 ActionCon Motion Control This tab 1s used to execute and control the motion to tune the movement characteristics of the wCK module It monitors the motion characteristics and help tune the PID gains used along with the Graph View tab The following picture is the initial screen setting amp Programming BasicS etting SpecialSetting ActionCon GiraphView MotionPrograming Last ID 15 Scan wk TarPos4ll Feriod ll Sampleall Increment ll CurPosition TarPositian Period SampleMum Increment ID 127 127 2000 au B 127 127 2000 au 127 127 2000 au 127 127 2000 au 127 127 2000 au 127 127 2000 gu 127 127 20002. setting amp Programming BasicSetting SpecialSetting ActionCon Graph iew MotionPrograming Scan ID po Clear All Instruction CT EE NOU NE NonM Main Instruction Sub Instruction Data L1 0 None fo jo 2 0 None 0 r jo Motion Scan L2 El L3 0 None fo fo L4 0 None fo fo Set Mo of instrwction o Y Bone B B a Lel0 Noe o n f Ei Motion Set alatoe iti Jove x ar Create and edit a self running motion program by selecting values for Main Instruction Sub Instruction and Data When finished with motion programming select the number of program code lines in the Set No of Instruction window and click Motion Set When executing a motion the software runs up to this specified number of lines Setting amp Programming BasicS etting Special etting ActionCon GraphView MotionPrograming Scan ID RN Clear All Instruction pec ee Motior Main Instruction Sub Instruction Date L1 E Control Position Torg O74 2 50 l 0 N o b Motion Scan oe L3 0 None 0 fo B nuoe fw Set Ao of instrection Nee TR jo Lef0 Noe i vo z f E Motion Set Glow Jb fh ig 0 Noe vj o E El E 23 25 S User s Manual v1 When Motion Set is completed the number of lines is displayed in Scan No of Instruction and the following message appears When power cycle the wCK module the self running motion is
3. wekprogr MJ Scan ID Scan ID Good ID Setting Serin EH Set ip E Ser ffi Se 11 25 EP User s Manual v1 Communication Speed baud rate Scan and Setup This menu is used to scan or set the communication speed baud rate of the connected wCK module When you click Scan Baud while the COM port setting is correct it automatically searches and shows the communication speed of the connected wCK module The default communication speed is set as 115 200 bps Scan Baudrate NonBaud Scan Baudrate L Scan Baud Set Baudrate MonBaud Sef Faeutrahe MonBaud Sef Baud amex Sef Baud E Click Set Baud after selecting the desired communication speed of the wCK module on the Set Baudrate selection menu The baud rate setting is finished when the changed communication speed is displayed on the Scan Baud window and the screen displays the message Good Baudrate Setting If you click All wCK instead of Set Baud while multiple wCK modules are connected the baud rate is applied for all wCK modules at a time wckprogramer Scan Baudrate MAU O Scan Baudrate M520 Ger fad Ha Scan Baudrate e00 Scan Overload 927600 Scan Baud Set Baudrate 9500 SEI DAUE amex E 12 25 User s Manual v1 If the communication speed is set to a value higher than 115 200 bps the following error message appears This error occurs because the wCK programmer
4. 66 58 66 57 66 53 66 56 66 4C 66 23 06 22 66 22 66 26 66 1F 66 1D 66 1B 66 18 66 17 660 11 66 66 66 68 Return Value User s Manual v1 Contents Eoo e OVOEVIGW a E A NT LUN IR EHI THEE ENeRUE 3 2 Function Summary and Screen Layout coscsceoxyeauenteaden Epic bh pREPIEEEDPEPDN UEM FIR PAPIER GE LEEPEPUP ERIDUR DE UEYE DUREE POE P EUER 3 5 et ns Sepa POEL sti ccccitesestesasoustessncstodestonsnctiassustnsensatod aA E A ER 5 U ra Br LIEGT IE AG MN 6 4 ToS DIA PHIL coerente ied iO ensem eoe 6 4 2 Sr CONA 8 ENNIO E E T E fcsncbies EE 6 4 3 10 bit Move GO I MISMO RENE 9 4 4 EXteinabDo C n eana E E E N 9 5 Settings and Self running Motion Programimiinng cccccccscscssscscssssssssessscsssssssssssssssssssesesesesesesssssseseseces 10 5 1 Basic Setting Configuration of Basic Parameter s ccsssssssssssssssssssssssssssssssssessssessssssssesesessssesssessesseessees 11 3 2 Special Setting Configuration of Special Parameters eee eeeeee retener tents 17 53 AcionCon Moton ONION assetto OR OmU uM ME M I EE 20 54 Graph View Response Characteristics Graph eee eese eere entere ttetntnn tete tnn tatnen 22 5 5 MotionProgramming Self running Motion Programming eese erret terne tnntnnnnnnnnn 23 E 225 ER User s Manual v1 1 Software Overview The wCK programmer from ROBOBUILDER is the developer s software tool used to con
5. Hs wCK programmer Developer s software tool for wCK series Intelligent Robot Module Users Manual ver 1 03 NATO Programer v1 32 ComPort Check Setting amp Programming Com Port Com BasicSetting SpecialSetting ActionCon GraphView MotionPrograming BUILDER paud Rate 178200 Check Port Scan ID NoD Scan Baudrate NonBaud Scan Gain NonGair NonGair NonGiai Command Pad 4 WCK Programer v1 32 Target ID Se f0 8bit Command Type Move Tog 10 bit Move Move Torg WheelSpdLevel 0 Ext 1 0 fo Target Position f 27 Command Execute 127 ComPort Check Com Port Come Baud Rate 115200 Check Port Response Position Line Command Pad Ce aec ME E ees Fe 8 Response Torq Line TagetIDSet 0 gt es a ee ee ee ee ee ee ee eee es NE Response Speed Line 8bit Command Type Move Toq ES ES cU dc E es ae Se Ae ae es eee ee 10 bit Move Move Torg 0 Ext 1 0 jo Target Position 12 Command Execute 127 Setting amp Programming BasicSetting SpecialSetting ActionCon GraphView MotionPrograming Response Characteristics Target Positon Line ReponseTime ms 575 25 Control Angle Position Speed Toi SteadyErrorSum 0 SaveGraph 20 25 30 35 40 45 50 Sample Number 254 Control Angle 65 6B 63 68 606 65 66 61 60 56
6. executed in the ActionCon tab When you click ViewGraph after performing a motion in ActionCon tab the response characteristics graph appears You can select the type of display angle by using the selection menu below the ViewGraph button setting amp Programming BasicSetting SpecialSetting ActionCon Graph iew MotionPrograming Response Characteristics Target Positon Line Response Position Line Response Torq Line Response Speed Line Miewlaraph fi O 269 deg Sbit Physical m t 07269 deg 8bit Physical D 07254 Control Angle 1 07269 dea Abit Physical Ari 7333 deg 10bit Physical 4 SteadyE rorum Savelaraph 20 25 30 35 40 45 Sample Number When you click SaveGraph the graph can be saved into a bitmap file as shown in the picture below Save As Save in My Documents 6 Picture BlMy Pictures ese my Received Files GL 1to150 tog0 bmp LEGO Creations My Videos My DVDs transformers My eBooks Updater Emy Music Updaters Save as type Bitmaps bmp g 22 25 ER User s Manual v1 5 5 MotionProgramming Self running Motion Programming This tab is used to program the self running motion of the wCK module The initial screen is like as follows If NonID appears on the Scan ID window it indicates that the ID of the connected wCK module is not set Accordingly first check the module connection and scan the ID in BasicSetting tab
7. value of movement boundary of the wCK module is set to minimum 1 and maximum 254 Scan Boundary NonUB NonLB Scan Boundary ocan Boundary Upper Lower Upper Lower fof DOUE Nonu None Ser B Mon v INonLE v Def GOUNG nth Sef Boundary annex If the Scan Boundary function is performed while wrong ID is set the following NonID error message appears If the function is performed while wrong baud rate is set the following Try Again error message appears wckpr wckpr amp 1625 Se User s Manual v1 Click Set Boundary after selecting the desired movement boundary on the Set Boundary selection menu The setting is finished when the changed values are displayed on the Scan Boundary window and the screen displays the message Good Boundary Setting If you click All wCK instead of Set Boundary while multiple wCK modules are connected the movement boundary values are applied for all wCK modules at a time a Scan Boundary 24 no Scan Boundary 5s a Scan Boundary Scan Boundary Upper Lower Upper Lower Set Bouncer MIE NorLE Set Rounders 240 BE 1 GO BOURGAS nck wckprogra Scan Boundary 240 foo Scan Bounda Upper Lower Set Bounda 240 100 Def HOM annex 52 Special Setting Configuration of Special Parameters This tab is used to set or scan the special parameters such as external I O port 10 bit position va
8. wheelSpdLevel n j the current position value is displayed in Target Position in real time The angle on the dial pad is shown in unit of control angle which is different from actual physical rotation angle As for the relationship of control angle with the physical movement angle refer to wCK module s manual If you drag the jog dial pad after checking the 10 bit Move check box the wCK module rotates in 10 bit command mode The control angle O to 254 shown on the dial pad is applied only for 8 bit command mode so please ignore the figure when you use 10 bit Move and just consider them as in scale of from 0 to 1022 degrees Ext lO Target Position Control Angle 42 8 bit commands Command Pad Tage IDSet 0 v Move Command poet Command Type Move Tong 0 bal Move Torq N is the command to have wCK module rotate to 10 bt Move MoveToq0 target position with the selected torque levels from 0 to 4 Select target ID choose one of the five Move Torg N Ext 1 0 jo 4 l Command Execute The wCK module will move to the specified position commands enter Target Position value 0 254 and finally click Target Position 130 S 6 25 Se User s Manual v1 Position Read Command Command Pad Target ID Set oe i Bbit Command Type Position ead This command is used to read the current position of the wCK module When you select Positio
9. Load Non verLoad Scan OverLoad 00 Scan OverLoad Sef Gyer ood MonUverLoa Set feed aaa Hon veroa Sef Oren ead AF LE Sef Cvaorf aad ALE EA If the Scan OverLoad function is performed while wrong ID is set the following NonID error message appears If the function is performed while wrong baud rate is set the following Try Again error message appears wckpr wckpr Try Again SR 1525 S User s Manual v1 Click Set OverLoad after selecting the desired overload value on the Set OverLoad selection menu The setting is finished when the changed values are displayed on the Scan OverLoad window and the screen displays the message Good OverLoad Setting If you click All wCK instead of OverLoad while multiple wCK modules are connected the overload value is applied for all wCK modules at a time Scan OverLoad 00 Scan Overload 00 0 Scan OverLoad Scan OverLoad Sef fred ead dE Sef fred oad og zj Sei Cyvorf oad Ag wckprogramer Good OverLoad Setting Scan verlo ARE Scan OverLoad Sof fread oat 700 Set Overload dreri oad Set Overload ar X Movement Boundary Scan and Setup This menu is used to scan or set the movement boundary of the connected wCK module When you click Scan Boundary while the ID and baud rate settings are correct it automatically searches and displays the motion boundary of the connected wCK module The default
10. Move Move Torg 2 Wheels pdl evel E Ext IA jo Target Position ECC bit Command 0 an4 Control Angle Command Pad Target ID 0 suo obit Command Type Move Torg 10 bit Move Move Torg Wheels pdl evel 5 m Ext 10 fi b Target Position jo Command Execute 12 Control Angle User s Manual v1 5 Setting and Self running Motion Programming The Setting amp Programming area consists of the following menu tabs Basic Setting configuration of basic parameters The tab is used to set or scan the parameters such as wCK module ID communication speed baud rate PID gains rotation speed acceleration deceleration range overload movement boundary etc Special Setting configuration of special parameters This tab is used to set or scan the special parameters such as external I O port 10 bit position value RC servo mode product information etc ActionCon motion control This tab is used to control the motion of wCK module to tune its movement characteristics It helps monitor the motion characteristics and tune PID gains together with the Graph View tab GraphView response characteristic graph This tab shows the response characteristics graph of each motion that is generated by ActionCon tab MotionProgramming self running motion programming This tab is used to program the self running motion of the wCK module Basic Setting Special Setting Action Control Gr
11. aph View Motion Programming wk Programer v1 32 ComPort Check Com Pret Com Baud Rate 115200 Check Port Command Pad Target ID Set Tuwing Poan Dgan igen 10 ba Hive Move Togi Sef Gain AP Eao 0 Target Position 127 Upper Lowes Set Boundary Non None Sot Boundary annex 254 Retum Value Se 10 25 S User s Manual v1 5 1 Basic Setting Configuration of Basic Parameters The tab is used to set or scan the parameters such as wCK module ID communication speed baud rate PID gains rotation speed acceleration deceleration range overload movement boundary etc ID Scan and Setup This menu is used to scan or set the ID of the connected wCK module When you click Scan ID while the COM port and baud rate settings are correct it automatically searches and displays the ID number of the connected wCK module If you click Scan ID when the communication speed baud rate is not matched an error message appears as shown in the picture below In this case run Scan Baud Rate to adjust the communication speed and click Scan ID again Sean ID Q 7 Scan ID wckpr Sof fp JE Sef L Select the ID 0 30 of the desired wCK module on the Set ID selection menu and click Set ID The ID setting is finished when the changed ID is displayed on the Scan ID window and the screen displays the message Good ID Sett ng Scan ip Noid Scan n TI
12. au 127 127 2000 au 127 127 2000 au 127 127 2000 au 127 127 2000 au 127 127 2000 au 127 127 2000 au 127 127 2000 au 127 127 2000 au ActionRun oo of oOo oO oO oOo oOo oOo fo oOo oO oOo eS Torg Level l LastlD 0 Synchronized Position Send When you click Scan wCK the ID of the connected wCK module and the current position value appear The scan is finished when the blue bar graph on the right reaches the top Setting amp Programming BasicSetting SpecialSetting ActionCon GraphView MotionPrograming Last ID 15 m d CurPosition TarPosition Period SampleNum increment A 3 127 o 127 127 127 127 127 127 127 127 127 127 127 127 127 127 127 127 8n 80 80 g 8 80 80 80 B 80 g 80 80 g 60 SR 2025 ER User s Manual v1 As shown below specify the target position TarPosition monitoring time period number of samplings SampleNum and Increment select the ID of the target wCK module and finally click ActionRun on the right Last ID indicates the highest ID number among all connected wCK modules During the scan the program scans all modules up to the specified Last ID so you must set it properly In order to minimize the scan time it is recommended to set correct Last ID Setting amp Programming BasicSetting SpecialSetting ActionCon Graph iew MotionPrograming Last ID 15 Scan wk TarPosall PeriadAll CurPosition TarPosition Periad Samp
13. er of the screen the created logics on the screen are all deleted Clear All Instruction S 25 25 EP
14. executed automatically wckprogramer Good Motion Setting Please power cycle wCK module to effect motion change The programming logics for the self running motion is as follows Motion Command 1 Byte Motion Data 1 Byte Nw 9 X Position Control Speed 0 4 8 bit Position Value Passive 2 Power Down 3 Wheel CCW 4 Wheel CW 3 Delay Time Max 4 095 ms Upper 4 bit delay value Lower 8 bit delay value in ms 4 DIO 2 bit external port output value C 2 gt 5 Position Conditional Decision 3 lt 8 bit Position Value 4 gt 5 lt 2 Motion Type The Speed value in Wheel Mode 0 15 C 2 gt 6 A D Conditional Decision 3 lt 8 bit external port A D input value 4 gt 5 lt 7 No of Repetition 0 nny To 254No of epeton amp End of Program Example Program The rotation axis of a wCK module moves to position 100 at torque 1 then moves to position 200 at torque 0 after delay 150 then repeat this motion after delay 250 Se 24 25 SR User s Manual v1 Scan ID oo Clear All Instruction UN NR Motior Main Instruction Sub Instruction Data L1 fi Control Pasition Torg 0 4 E 100 3 Dela Bms B 150 Motion Scan files z Lal Control Position Torg 074 fo 200 ww L4 3 Delay Bms fo z Sef Apo oof Jasin 4 Afofge Sef When you click Clear All Instruction on the upper right corn
15. figure and control wCK series of intelligent robot modules The wCK programmer enables you to set and test all parameters and helps you configure the wCK modules for optimal performance for your application requirements through PID gain tuning technique This tool also provides its special feature of Self running motion programming 2 Function Summary and Screen Layout The wCK programmer is used to Test motions Scan and set parameters Do PID gain tuning through motion control Monitor Response characteristics graphs Program self running motion Comport Check area Setting amp Programming area Sasad Set Bavorale NorBaxi v Command Pad area _ Scan overtora Set OverTorg Non verT orc l Set OverTorg ral Return Value area Screen layout of the wCK programmer ER 3 25 ER User s Manual v1 Comport Check area This area is used to check the serial com port of user s PC Command Pad area This area is used to test the motions of wCK module by using basic commands Setting amp Programming area This area is used to set the parameters of wCK module tune PID gains and program self running motions Return Value area This area shows the return values that come from wCK module S 4 25 User s Manual v1 3 Setting Serial Port The following procedure explains how to set ComPort on your PC for connecting the wCK module 1 Select the COM port of user s PC to use to connec
16. leNum Increment 3 254 2000 Bn 1z7 127 2000 Bn 127 127 2000 an 127 127 2000 en 127 127 2000 BO 127 127 2000 Bn 127 127 2000 Bn 127 127 2000 Bn 127 127 2000 an 127 127 2000 an 127 127 2000 BO 127 127 2000 en 127 127 2000 en 127 127 2000 8n 127 127 2000 8n Torg Level 0 Last ID jo Synchronized Position Send ActionRun cO oc moocoouoolooouodoonuulnn TTT z ELLI The blue vertical stick bar graph reaches the top while the wCK module rotates and move to the specified target position When the bar graph reaches the top the motion is completed Go and analyze the response characteristics in the GraphView tab Setting amp Programming BasicSetting SpecialSetting ActionCon Graph iew MotionPrograming pL Last ID 15 Scan wilk TarPosAl Periad l S ample amp ll CurPosition TarPosition Period l SampleNum Increment a 254 2000 an 127 127 2000 au 127 127 2000 50 127 127 2000 an 127 127 2000 50 127 127 2000 50 127 127 2000 a 127 127 2000 50 127 127 2000 an 127 127 2000 a 127 127 2000 a 127 127 2000 an 127 127 2000 a 127 127 2000 50 127 127 2000 an Torg Level p Synchronized Position Send Incremental ActonAun x amp 21 25 ER User s Manual v1 5 4 GraphView Response Characteristics Graph It shows the response characteristics graph of the motion
17. lue RC servo mode product information etc wCK Module ID Display The first menu of Special Setting is the display of the ID number of the connected wCK module If the ID is not set NonID appears But when the ID scan is finished the ID of the connected module appears Se 1725 S User s Manual v1 External I O Port Scan and Setup This menu is used to scan D O A D or set D O the external I O port value of the connected wCK module When you click Scan Ext I O while the ID and baud rate settings are correct it automatically searches and displays the I O port value of the connected wCK module When the function is performed while wrong ID is set the Try Again error message appears The external I O port value of the wCK module is set to 0 X when any external I O device is not connected The first number 0 indicates the D O value and the second X value is integer value that indicates the 1 byte A D value When you scan it while the A D input device is not connected the X value displayed is meaningless Scan Ext I0 Ser xf NonExt Saf Ef NonExt Sef Fat DLF Sef Ext LG Meaning of the first Number 0 D O2 0 D O1 0 1 D O2 0 D O1 1 2 D O2 1 D O1 203 D O2 1 D O1 1 Click Set Ext after selecting the desired D O output value on the Set Ext selection menu The setting is finished when the changed value is applied to Scan Ext Scan Ext O Set Ext E SEF x AJ Scan Ext 0
18. n Read on the menu after selecting the target ID and click Command Execute the current position value appears in the Return Value area as l btMove Move Torg U We WheelSpdlevel Dw shown in the picture The first byte indicates the current load pone while the second byte indicates the current position Exo 0 Target Position 0 Command Execute 12 Control Angle Passive wCK Command This Passive wCK command is used to release the torque Eummamd ES from the axis of the wCK module and so that the axis can be IFTE p moved smoothly by an external force obit Command Type Passive wCK oF When you select Passive wCK on the menu after selecting 10 bit Move Move Toqd E the target ID and click Command Execute the wCK module WheelSpdLevel fo is changed to passive mode Ext o Target Position jo 0 Control Angle Se 725 Se User s Manual v1 Break wCK Command This Break wCK command is used to stop the movement of selected wCK module without consuming electric power by using the dynamic break effect When you select Break wCK on the menu after selecting the target ID and click Command Execute the wCK module is changed to break mode Wheel wCK Command This Wheel wCK commands are used to allow the wCK module to move in a 360 degree rotating movement When you select WheelCW clockwise or WheelCCW counter clockwise on the menu after selecting the targe
19. nd perform the Set Gain function the gain is applied only in runtime In this case if you power cycle the wCK module the value is reset to the previous setting wckprogr Eg Scan Gain BERE E RN Scan Gain BENE ERE RE Scan Gain Scan Gain Good Gain Setting RuntimeChk HuntimeChk Pain D gain Igain Pain Dgain lqairi Sef fro EE Mont Mont Saf San 70 100 iil Sef Gav AU mex Scan Gain 0 fo Scan Gain RuntimeChk Fgain Dgain Igain sagai wifi Sef Gan AU mex This menu is used to scan or set the speed and acceleration deceleration range of the connected wCK module When you click Scan Speed while the ID and baud rate settings are correct it automatically searches and displays the speed and acceleration deceleration ranges of the connected wCK module The default speed of the wCK module is set to O and the acceleration deceleration range is set to 60 Scan Speed Non Non Scan Speed Oo eo eer er err rere errr errr rrr nn ra Scan Speed Scan Speed HARRRARRERERERSARARERESRESRESARRRERERESRZSARSARERERERESRRRRERERERRSRERRRERERERESRERRREREREREE Ca Speed and Acceleration Deceleration Block Scan and Setup RuntimeChk Speed Accel RuntimeChk Speed Accel Sef Speed Non Non Set Speed Non Non Sef Speed A CE Sef 5peedg A ER If the Scan Speed function is performed while wrong ID is set the following NonID error message appears If the Scan Speed func
20. t ID the WheelSpdLevel menu get activated After selecting the rotation speed level 0 30 and click Command Execute the module starts rotation ER 8 25 ER Command Pad Target ID Set Sbit Command Type Break WCE 10 bit Move Move Tog 0 Wi heelSpdlevel fo Ext 10 o Control Angle Command Pad Target ID Set jo e Bbit Command Type wheeccw 10bitMove MoveTog0 wheelSpdLevel 5 Ext LO jo Target Position jo 0 2zh4 Control Angle User s Manual v1 43 10bit Move Commands This command is used to have wCK module to move to a specific position by using the designated torque 0 to 4 levels under 10 bit control mode When you select the target ID check in 10 bit Move check box select one out of the five Move Torq N commands input the desired position value 0 to 254 and finally click Command Execute the wCK module will move to the specified position 44 External I O Command This Ext I O command is used to send out a value to the external I O port that is installed inside the wCK module When you select the target ID and select the desired value on the Ext I O menu it is sent out to the port The value is translated as below Ext I O 0 D O2 0 D O1 0 Ext I O 1 D O2 0 D O1 1 Ext I O 2 D O2 1 D O1 0 Ext I O 3 D O2 1 D O1 1 ER 9 25 ER Command Pad Tage ID Set 0 Type Mave Torg v 10 bit
21. t wCK module with and click Check Port ComPort Check Com Fort Come Baud Rate 115200 Target ats 2 If the setting is correctly done no error message follows If COM port is not correctly selected the following error message appears If this error message appears check the correct COM port information in the Control Panel of your PC and try again wckprogramer X ie BadId Specified comport doesn t exist 3 If you know the baud rate of the wCK module to be connected select the rate as shown in below picture The Baud Rate here is the one to be used by PC to communicate with wCK module If the baud rate of wCK module is not known you don t need to do this at this step Only 1f the COM port is correctly set it automatically searches for and sets the correct baud rate when you later perform Scan Baud Rate in the Basic Setting tap of the Setting amp Programming area ComPort Check Com Fort Come L Baud Rate MERTI ER 5 25 ER User s Manual v1 4 Using Command Pad 4 1 Jog Dial Pad If you drag the mouse on the jog dial pad after selecting the ID of the Command Pad E connected wCK module on the Target ID Set menu the wCK module will Target ID Set l rotate according to the mouse movement this is done in 8 bit command Shit Command Type Move Torq 0 I mode 10bitMove MoveTorq The red point indicates the current angular position of the wCK module and
22. tion is performed while wrong baud rate is set the following Try Again error message appears wckpr ER 14 25 ER User s Manual v1 Click Set Speed after selecting the desired speed and acceleration deceleration range on the Set Speed selection menu The setting is finished when the changed values are displayed on the Scan Speed window and the screen displays the message Good Speed Setting If you click All wCK instead of Set Speed while multiple wCK modules are connected the speed and acceleration deceleration range are applied for all wCK modules at a time If you check in RuntimeChk and perform the Set Speed function the value is applied only in runtime If you power cycle the wCK module the values are reset to the previous settings wckprogra Good Speed Setting Scan Speed o p Scan Speed lo 60 ocan Speed ocan Speed RuntimeChk seed Accel Bunt meLhk coheed Accel Set Speed EE Non Set Speed ER 0 A EX Ser Seed nth Scan Speed amu 400 ocan Speed RuntimeChk Speed Accel Sef Speed 1 40 Overload Criteria Scan and Setup Ser Speed ALE ER This menu is used to scan or set the overload of the connected wCK module When you click Scan OverLoad while the ID and baud rate settings are correct it automatically searches and displays the overload of the connected wCK module The default overload of the wCK module is set to 800 Scan ver
23. tool does not need that high speed even though the wCK module itself supports up to 921 600bps Scan Baudrate emo 00 BaudScan E Bawdrate 230400 230400 Set Baud SEA wn Eus rogramer NH PID Scan and Setup This menu is used to scan or set the PID gains of the connected wCK module When you click Scan Gain while the ID and baud rate settings are correct it automatically searches and displays the gains of the connected wCK module The default gain values of the wCK module are set as P gain 50 D gain 75 and I gain 0 Scan Gain NonGair NonGair NonGair Scan Gain ps sancan ME smear RuntimeChk RuntimeChk Fgain Dgain Igain Fgain gain I gain Sat Ew Mont Nont Nong Sat E 50 v5 Ea Set Gain ator If the Scan Gain function is performed while wrong ID is set the following NonID error message appears If the Scan Gain function is performed while wrong baud rate is set the following Try Again error message appears Se 1325 S User s Manual v1 Click Set Gain after selecting the desired PID gains on the Set Gain selection menu The gain setting 1s finished when the changed gain values are displayed on the Scan Gain window and the screen displays the message Good Gain Setting If you click All wCK instead of Set Gain while multiple wCK modules are connected the gains are applied for all wCK modules at a time If you check in RuntimeChk a
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