RCB-1

Command Reference

2005.02 v1

For Blue Version servos

This is a partial translation of the Kondo Robot’s

“RCB –1 CommandVer1B.pdf”

Please email and additions or corrections to:

dan@sjrobotics.org

http://www.sjrobotics.org

translated by Daniel Albert

Set RCB-1 ID

[ T X ]

CMD1 CMD2   ID  CHKSUM

1                     2                 3                 4                      [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1                 2             [byte]

fangulaaa

Parameters

Possible Values

Description
CMD 1 FFh First part of command
CMD 2 5Ah Second part
ID 00h ~ 1Fh Board ID #
CHKSUM ** 00h ~ 7Fh (CMD1 + CMD2 + ID) & 7F
ACK 06h Acknowledgement

** & is a logical AND, + is an add

example chksum :  (FFh + 5Ah + 2h) & 7f = 5Bh

Get RCB-1 ID

[ T X ]

CMD    CHKSUM

1                     2                      [byte]

[ R X ]                         30 mSec Timeout

ID    CHKSUM

1                      2               [byte]

Parameters

Possible Values

Description
CMD FEh Command
TX CHKSUM 00h ~ 7Fh CMD & 7Fh
ID 00h ~ 1Fh Board ID #
RX CHKSUM 00h ~ 1Fh ID & 7Fh


Send RCB-1Servo Position To Robot

[ 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

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

  • DDh = free
  • DEh = 1
  • DFh = 2
  • E0h = 3
  • E1h = Low
  • E2h = High

Get RCB-1Servo Position From Robot

[ T X ]

CMD    ID  CHKSUM

1              2               3                     [byte]

[ R X ]                         30 mSec Timeout

ID    CH1 … CH12 CHKSUM

1                 2             [byte]

Parameters

Possible Values

Description
CMD FCh Command
ID 00h ~ 1Fh Board ID #
CH1….CH12 00h ~ B4h * Servo degree  (90 = 5Ah)
TX CHKSUM 00h ~ 7Fh (CMD + ID) & 7Fh
RX CHKSUM 00h ~ 7Fh (ID + CH1 + … + CH12) & 7Fh
  • Red version additional values
    • DDh = free
    • DEh = 1
    • DFh = 2
    • E0h = 3
    • E1h = Low
    • E2h = High


Set RCB-1 Home Position

[ T X ]

CMD   ID  CHKSUM

1            2                 3                       [byte]

[ R X ]                         10 mSec Timeout

ID    ACK

1                 2             [byte]

Parameters

Possible Values

Description
CMD FBh Command
ID 00h ~ 1Fh Board ID #
CHKSUM 00h ~ 7Fh (CMD + ID) & 7Fh
ACK 06h Acknowledgement

Get RCB-1Home Position From Robot

[ T X ]

CMD    ID  CHKSUM

1              2               3                     [byte]

[ R X ]                         30 mSec Timeout

ID    CH1 … CH12 CHKSUM

1                 2             [byte]

Parameters

Possible Values

Description
CMD FAh Command
ID 00h ~ 1Fh Board ID #
CH1….CH12 00h ~ B4h * Servo degree  (90 = 5Ah)
TX CHKSUM 00h ~ 7Fh (CMD + ID) & 7Fh
RX CHKSUM 00h ~ 7Fh (ID + CH1 + … + CH12) & 7Fh
  • Red version additional values
    • DDh = free
    • DEh = 1
    • DFh = 2
    • E0h = 3
    • E1h = Low
    • E2h = High


Set an RCB-1 Motion Position

[ T X ]

CMD   ID  MOTION# POS# SPD CH1 … CH12 CHKSUM

1            2                 3                         4                5            6                         17                18              [byte]

[ R X ]                         10 mSec Timeout

ID    ACK

1                 2             [byte]

Parameters

Possible Values

Description
CMD F9h Command
ID 00h ~ 1Fh Board ID #
MOTION# 00h ~ 27h One of 40 motions
POS# 00h ~ 63h One of 100 position in this motion
SPD 00h ~ 07h Relative Speed between positions
CH1…CH12 00h ~ B4h Servo degree where 5Ah = 90 degrees
CHKSUM 00h ~ 7Fh (CMD + ID+ MOTION# + POS# + SPD +

CH1 +… + CH12) & 7F

ACK 06h Acknowledgement


Get an RCB-1 Motion Position

[ T X ]

CMD   ID  MOTION# POS# CHKSUM

1            2                 3                         4                       5                [byte]

[ R X ]                         30 mSec Timeout

ID  SPD CH1 … CH12  CHKSUM

1            2             3                    14                         15           [byte]

Parameters

Possible Values

Description
CMD F8h Command
ID 00h ~ 1Fh Board ID #
MOTION# 00h ~ 27h One of 40 motions
POS# 00h ~ 63h One of 100 position in this motion
SPD 00h ~ 07h Relative Speed between positions
CH1…CH12 00h ~ B4h Servo degree where 5Ah = 90 degrees
TX CHKSUM 00h ~ 7Fh (CMD + ID + MOTION# + POS#) & 7Fh
RX CHKSUM 00h ~ 7Fh (ID+ SPD + CH1 +… + CH12) & 7F
ACK 06h Acknowledgement


Set RCB-1 Motion Position Count

[ T X ]

CMD    ID   MOTION#   COUNT CHKSUM

1               2                   3                                4                        5                [byte]

[ R X ]                         30 mSec Timeout

ID       ACK

1                    2          [byte]

fangula

Parameters

Possible Values

Description
CMD F7h Command
ID 00h ~ 1Fh Board ID #
MOTION# 00h ~ 27h(39) Motion #
COUNT 00h ~ 63h(99) Position Index Count
CHKSUM 0h ~ 7Fh (CMD + ID + MOTION# + COUNT) & 7F
ACK 06h Acknowledgement


Get RCB-1 Motion Position Count

[ T X ]

CMD    ID   MOTION#   CHKSUM

1              2                  3                                  4                   [byte]

[ R X ]                         30 mSec Timeout

ID    COUNT   CHKSUM

1                    2                             3             [byte]

Parameters

Possible Values

Description
CMD F6h Command
ID 00h ~ 1Fh Board ID #
MOTION# 00h ~ 27h(39) Motion # stored on RCB-1
COUNT 00h ~ 63h(99) The number of Positions in this Motion
TX CHKSUM 0h ~ 7Fh (CMD + ID + MOTION#) & 7Fh
RX CHKSUM 0h ~ 7Fh (ID + COUNT) & 7Fh


Set an RCB-1 Scenario Motion

[ T X ]

CMD   ID  SCENARIO    MOTIONIDX     MOTION#    CHKSUM

1              2                     3                                         4                                       5                                    6                 [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1                2        [byte]

Parameters

Possible Values

Description
CMD F5h Command
ID 00h ~ 1Fh Board ID #
SCENARIO 00h ~ 03h Bank number. One of four banks of motion sequences
MOTIONIDX 00h – C7h One of 200 Motion indexes in this scenario of motions
MOTION# 00h ~ 27h One of the 40 programmed motions
CHKSUM 00h ~ 7Fh (CMD + ID + SCENARIO + MOTIONIDX  + MOTION#) & 7Fh
ACK 06h Acknowledgement


Get an RCB-1 Scenario Motion

[ T X ]

CMD   ID  SCENARIO    MOTIONIDX      CHKSUM

1              2                     3                                         4                                        5               [byte]

[ R X ]                         30 mSec Timeout

ID   MOTION#    CHKSUM

1                    2                                    3              [byte]

Parameters

Possible Values

Description
CMD F4h Command
ID 00h ~ 1Fh Board ID #
SCENARIO 00h ~ 03h Bank number. One of four banks of motion sequences
MOTIONIDX 00h – C7h One of 200 Motion indexes in this scenario of motions
MOTION# 00h ~ 27h One of the 40 programmed motions
TX CHKSUM 00h ~ 7Fh (CMD + ID + SCENARIO + MOTIONIDX) & 7Fh
RX CHKSUM 00h ~ 7Fh (ID + MOTION#) & 7Fh


Set an RCB-1 Scenario’s Position Count

[ T X ]

CMD   ID  SCENARIO   COUNT   CHKSUM

1              2                     3                                4                             5                [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1                2        [byte]

Parameters

Possible Values

Description
CMD F3h Command
ID 00h ~ 1Fh Board ID #
COUNT 00h ~ C7h(200) Number of total positions in scenario
SCENARIO 00h ~ 03h Bank number. One of four banks of motion sequences
CHKSUM 00h ~ 7Fh (CMD + ID + SCENARIO + COUNT) & 7Fh
ACK 06h Acknowledgement


Get RCB-1 Scenario’s Motion Count

[ T X ]

CMD    ID   SCENARIO   CHKSUM

1               2                      3                                   4                  [byte]

[ R X ]                         30 mSec Timeout

ID    COUNT   CHKSUM

1                    2                             3              [byte]

Parameters

Possible Values

Description
CMD F2h Command
ID 00h ~ 1Fh Board ID #
SCENARIO 00h ~ 03h Bank number. One of four banks of motion sequences
COUNT 00h ~ C7h(200) Number of total positions in scenario
TX CHKSUM 0h ~ 7Fh (CMD + ID + SCENARIO) & 7Fh
RX CHKSUM 0h ~ 7Fh (ID + COUNT) & 7Fh


Set RCB-1 Software Switch Bits

[ T X ]

CMD   ID  SWITCH   CHKSUM

1              2               3                                4              [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1                2        [byte]

Parameters

Possible Values

Description
CMD F1h Command
ID 00h ~ 1Fh Board ID #
SWITCH 00h ~ 04h Bit 0 = SLEEP, Bit 1 = Motion

(bits 2-7 unused)

CHKSUM 00h ~ 7Fh (CMD + ID + SWITCH) & 7Fh
ACK 06h Acknowledgement


Get RCB-1 Software Switch Bits

[ T X ]

CMD    ID   CHKSUM

1               2                     3              [byte]

[ R X ]                         30 mSec Timeout

ID    SWITCH   CHKSUM

1                    2                                3             [byte]

Parameters

Possible Values

Description
CMD F0h Command
ID 00h ~ 1Fh Board ID #
SWITCH 00h ~ 03h Bit 0 = SLEEP, Bit 1 = Motion (bits 2-7 unused)
TX CHKSUM 0h ~ 7Fh (CMD + ID) &7Fh
RX CHKSUM 0h ~ 7Fh (ID + SWITCH) & 7Fh


Play an RCB-1 Motion

[ T X ]

CMD   ID  MOTION   CHKSUM

1             2                3                               4              [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1                2        [byte]

Parameters

Possible Values

Description
CMD EFh Command
ID 00h ~ 1Fh Board ID #
MOTION 00h ~ 27h One of the 40 programmed motions
CHKSUM 00h ~ 7Fh (CMD + ID + MOTION) & 7Fh
ACK 06h Acknowledgement


Play an RCB-1 Scenario

[ T X ]

CMD   ID  SCENARIO   CHKSUM

1              2                     3                                   4               [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1                2        [byte]

Parameters

Possible Values

Description
CMD EEh Command
ID 00h ~ 1Fh Board ID #
MOTION 00h ~ 27h One of the 40 programmed motions
CHKSUM 00h ~ 7Fh (CMD + ID + SCENARIO) & 7Fh
ACK 06h Acknowledgement


Set RCB-1 Remote Key Control Command?

[ T X ]

CMD   ID  ADDRESS  KEY1  KEY2  MOTION   CHKSUM

1              2                   3                         4                  5                        6                                7            [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1                2        [byte]

Parameters

Possible Values

Description
CMD EDh Command
ID 00h ~ 1Fh Board ID #
ADDRESS 00h ~ 9Fh See table below
KEY1 00h ~ 0Fh
KEY2 00h ~ 0Fh
MOTION 00h ~ 27h One of the 40 programmed motions
CHKSUM 00h ~ 7Fh (CMD + ID + ADDRESS + KEY1 + KEY2 + MOTION) & 7F
ADDRESS
1 Shiftkey (nashi) #00h ~ #1Fh
2 Shiftkey 1 #20h ~ #3Fh
3 Shiftkey 2 #40h ~ #5Fh
4 Shiftkey 3 #60h ~ #7Fh
5 Shiftkey 4 #80h ~ #9Fh

Get RCB-1 Remote Key Control Command

[ T X ]

CMD   ID  ADDRESS  CHKSUM

1              2                   3                                4                [byte]

[ R X ]                         30 mSec Timeout

ID    KEY1  KEY2  MOTION CHKSUM

1                2                  3                        4                          5              [byte]

Parameters

Possible Values

Description
CMD ECh Command
ID 00h ~ 1Fh Board ID #
ADDRESS 00h ~ 9Fh See table below
KEY1 00h ~ 0Fh
KEY2 00h ~ 0Fh
MOTION 00h ~ 27h One of the 40 programmed motions
TX CHKSUM 00h ~ 7Fh (CMD + ID + ADDRESS) &7Fh
RX CHKSUM 00h ~ 7Fh (ID + KEY1 + KEY2 + MOTION) &7Fh


Set RCB-1 Servo Trim

[ T X ]

CMD   ID    CH1 … CH12 CHKSUM

1             2               3                      14                   18              [byte]

[ R X ]                         30 mSec Timeout

ID    ACK

1               2             [byte]

Parameters

Possible Values

Description
CMD E9h Command
ID 00h ~ 1Fh Board ID #
CH1…CH12 00h ~ 27h Servo degree trim (00h = -20) (27h = +20)
CHKSUM 00h ~ 7Fh (CMD + ID + CH1 +…+ CH12) &7Fh
ACK 06h Acknowledgement


Get RCB-1 Servo Trim

[ T X ]

CMD   ID  CHKSUM

1            2                 3                [byte]

[ R X ]                         30 mSec Timeout

ID  CH1 … CH12  CHKSUM

1            2                      13                    14             [byte]

Parameters

Possible Values

Description
CMD E8h Command
ID 00h ~ 1Fh Board ID #
CH1…CH12 00h ~ 27h Servo degree trim (00h = -20) (27h = +20)
TX CHKSUM 00h ~ 7Fh (CMD + ID) &7Fh
RX CHKSUM 00h ~ 7Fh (ID + CH1 +…+ CH12) &7Fh


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