Dh-Robotics PGC-50 - Page 22

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Send: 01 06 04 05 01 2C 98 B6 (Reference position: 300‰)
Return: 01 06 04 05 01 2C 98 B6
Send: 01 06 04 06 00 1E E8 F3 (Force: 30%))
Return: 01 06 04 06 00 1E E8 F3
Send: 01 06 04 07 00 1E B9 33 (Speed: 30%)
Return: 01 06 04 07 00 1E B9 33
IO parameter address is continuous address, and four groups of IO parameters can be
configured at one time by using the function code of 0x10, as follows:
Continuous multiple address write(write)[Group 1:1000 ‰ position;20%force;10%speed
Group 2:100‰position;20%force;2%speed Group 3:0‰ position;100%force;5%speed Group
4:592‰position;100%force;10%speed]:
Send: 01 10 0405 000C 18 03e8 0014 000A 0100 0014 0002 0000 0064 0005 0250 0064
000a 9f 44
Return: 01 10 04 05 00 0C D1 3D