About command reference

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About command reference

Post by inaki » Sun Mar 06, 2005 6:41 pm

Post by inaki
Sun Mar 06, 2005 6:41 pm

I have read the English translation of the RCB commands by Daniel Albert. I like the translation although I miss a reference of commands with the meaning of each one. I am missing some manual ? Where there are explained the different commands that can be sent to the KHR-1 and what each one of them do? In this manual I can see the syntax of each command but there is no explanation of what can be done with each command. Is there a tutorial about commands, functions, how to do different things and which commands to use, etc.
In other words, I miss a complete manual about everything: assembling, programming, extensions, options, .... Of course, in English if possible
I have read the English translation of the RCB commands by Daniel Albert. I like the translation although I miss a reference of commands with the meaning of each one. I am missing some manual ? Where there are explained the different commands that can be sent to the KHR-1 and what each one of them do? In this manual I can see the syntax of each command but there is no explanation of what can be done with each command. Is there a tutorial about commands, functions, how to do different things and which commands to use, etc.
In other words, I miss a complete manual about everything: assembling, programming, extensions, options, .... Of course, in English if possible
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Post by limor » Sun Mar 06, 2005 10:52 pm

Post by limor
Sun Mar 06, 2005 10:52 pm

The example below is a copy-paste of the "Send RCB-1Servo Position To Robot" command from Dan's translation on page 6.

so if you write to your PC's serial port the following sequence of bytes (here represented as hex values):
FD 01 03 5A 5A 5A 5A 5A 5A 5A 5A 5A 5A 5A 5A XX
(where XX is the checksum using the formula mentioned below),
it will put channels 12-23 (assuming the RCB-1 board that is responsible for channels 12-23 is ID1) of your KHR-1 into neutral position. ie: all servos go to 90deg.

The RCB1 board will respond back on the serial port within 30 mSec with two bytes:
01 06

It's that simple!

[ T X ]
CMD ID SPD CH1 … CH12 CHKSUM
1 2 3 4 15 16 [byte]



[ R X ] 30 mSec Timeout
ID ACK
1 2 [byte]



Parameters

Parameters Possible Values Description
CMD FDh Command
ID 00h ~ 1Fh Board ID #
SPD 00h ~ 07h Speed
CH1….CH12 00h ~ B4h * Servo degree (90 = 5Ah)
CHKSUM 00h ~ 7Fh (CMD + ID + SPD + CH1 …+ CH12) &7Fh
ACK 06h Acknowledgement
* Red version additional values
o DDh = free
o DEh = 1
o DFh = 2
o E0h = 3
o E1h = Low
o E2h = High
The example below is a copy-paste of the "Send RCB-1Servo Position To Robot" command from Dan's translation on page 6.

so if you write to your PC's serial port the following sequence of bytes (here represented as hex values):
FD 01 03 5A 5A 5A 5A 5A 5A 5A 5A 5A 5A 5A 5A XX
(where XX is the checksum using the formula mentioned below),
it will put channels 12-23 (assuming the RCB-1 board that is responsible for channels 12-23 is ID1) of your KHR-1 into neutral position. ie: all servos go to 90deg.

The RCB1 board will respond back on the serial port within 30 mSec with two bytes:
01 06

It's that simple!

[ T X ]
CMD ID SPD CH1 … CH12 CHKSUM
1 2 3 4 15 16 [byte]



[ R X ] 30 mSec Timeout
ID ACK
1 2 [byte]



Parameters

Parameters Possible Values Description
CMD FDh Command
ID 00h ~ 1Fh Board ID #
SPD 00h ~ 07h Speed
CH1….CH12 00h ~ B4h * Servo degree (90 = 5Ah)
CHKSUM 00h ~ 7Fh (CMD + ID + SPD + CH1 …+ CH12) &7Fh
ACK 06h Acknowledgement
* Red version additional values
o DDh = free
o DEh = 1
o DFh = 2
o E0h = 3
o E1h = Low
o E2h = High
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Post by Guest » Tue Mar 15, 2005 4:56 pm

Post by Guest
Tue Mar 15, 2005 4:56 pm

Unfortunately it is not as easy as that. The first problem is the serial connector that comes with the KHR, it is not standard. You must control the RX pin for two functions at the same time. If you launch a write freely it will stop working at any time and you wont be able to read back anything. Submitting a command is easy, but sending many commands and reading acks and other results it is not.
Unfortunately it is not as easy as that. The first problem is the serial connector that comes with the KHR, it is not standard. You must control the RX pin for two functions at the same time. If you launch a write freely it will stop working at any time and you wont be able to read back anything. Submitting a command is easy, but sending many commands and reading acks and other results it is not.
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Post by Guest » Tue Mar 15, 2005 8:45 pm

Post by Guest
Tue Mar 15, 2005 8:45 pm

Anonymous wrote:Unfortunately it is not as easy as that. The first problem is the serial connector that comes with the KHR, it is not standard. You must control the RX pin for two functions at the same time. If you launch a write freely it will stop working at any time and you wont be able to read back anything. Submitting a command is easy, but sending many commands and reading acks and other results it is not.


the RCB-1 cable connects to the PC serial port and so uses standard UART functions.. can you please explain what you mean by RX serving two functions at the same time?
Anonymous wrote:Unfortunately it is not as easy as that. The first problem is the serial connector that comes with the KHR, it is not standard. You must control the RX pin for two functions at the same time. If you launch a write freely it will stop working at any time and you wont be able to read back anything. Submitting a command is easy, but sending many commands and reading acks and other results it is not.


the RCB-1 cable connects to the PC serial port and so uses standard UART functions.. can you please explain what you mean by RX serving two functions at the same time?
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Post by Guest » Wed Mar 16, 2005 7:50 pm

Post by Guest
Wed Mar 16, 2005 7:50 pm

Pin 4 (DTR) is connected to PIN 2 (RX) through a resistor.
Pin 4 (DTR) is connected to PIN 2 (RX) through a resistor.
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What Ohm Resistor to use in ICS-PC?

Post by Raymond » Sat Apr 11, 2009 7:35 pm

Post by Raymond
Sat Apr 11, 2009 7:35 pm

Hi All,

What Resistor to use to create the Kondo PC interface witht eh RS232 when shorting Pins 2 and 4.

Thanks

Mark
Hi All,

What Resistor to use to create the Kondo PC interface witht eh RS232 when shorting Pins 2 and 4.

Thanks

Mark
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