Operation Demonstrations

Using Position Mode to Control a Single Joint Module (Example with ID1)

Note

Please read the "Safety Instructions" and "Joint Module Overview" sections before proceeding with these steps.

Wiring

Ensure the system is powered off before wiring. Connect the 24V and GND wires of the joint module to the power supply. Then, connect the A and B communication wires to the RS485-to-USB converter for communication between the joint module and the PC. Finally, connect the ground wire of the RS485-to-USB converter to the power supply ground to complete the wiring. Please refer to the wiring diagram.

Power On

After checking the wiring, set the power supply voltage to 24V and turn on the power. The green LED on the joint module driver board will light up, indicating normal operation.

Enabling the Joint Module

After powering on, send the command (01 06 00 10 00 00 00 01 C4 E7) to enable the joint module. This sets the joint module to be in a ready-to-move state.

Note

After successful enabling, touch the joint module with your hand and you can feel a slight vibration inside.

Setting and Returning to Home Position

After enabling, before position control, send the "Set Home Position" command (01 06 00 31 00 00 00 01 C3 5B) or the "Return to Home" command (01 06 00 32 00 00 00 01 C3 1F). The first command sets the current position as the home position, while the second command returns the joint to the set home position.

Position Control

After enabling and setting the home position or returning to the home position, you can start performing position control.

To move the joint module to position 100000, send the command (01 06 00 82 00 01 86 A0 01 AC).

To move the joint module to position 0, send the command (01 06 00 82 00 00 00 00 D9 9F).

Note 1

Ensure that the joint module reaches the given position before sending the next position command.

Note 2

If the joint module successfully moves to positions 100000 or 0, the operation is considered normal.

Disabling the Joint Module

When the joint module does not need to move, you can disable it by sending the command (01 06 00 10 00 00 00 00 04 26).

Summary of Demonstration Commands

Command Description	Command
Enable ID1 Joint Module	01 06 00 10 00 00 00 01 C4 E7
Set Home Position for ID1	01 06 00 31 00 00 00 01 C3 5B
Return to Home Position for ID1	01 06 00 32 00 00 00 01 C3 1F
Position Control for ID1 (100000)	01 06 00 82 00 01 86 A0 01 AC
Position Control for ID1 (0)	01 06 00 82 00 00 00 00 D9 9F
Disable ID1 Joint Module	01 06 00 10 00 00 00 00 04 26