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RS485ʐMW[(rs485comm) Ver2.1  by Futaba Corporation
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E͂߂

	RS485ʐMW[Hot Soup Processor ver3.0ȍ~ƂƂɎgp邱ƂŁA
	А{bgpR}hT[{[^̃Rg[ɊւlXȋ@\g
@@񋟂܂B
	ڂg̓TvXNvgQƂĂB


E쌠јA

	쌠сAgp̋KɂĂRSC-U485TvvOƓlłB
	܂A{TvXNvgRɉρAJĂč\܂B
	Ђ͖{vOɂĐAȂ鑹QɂĂۏ؂܂B
	Ȃ̐ӔC͈̔͂ŎgpĂB


ERS485ʐMW[̊Tv

	RS485ʐMW[̎ȋ@\͈ȉ̒ʂłB

	ERS485|[g̃I[vAN[Y
	ER}hT[{[^̃V[gpPbgM
	ER}hT[{[^̃^[f[^M
	E[}bvobt@̃[h/Cg


EXV

	2006/09/29 ( Ver2.0 ) J
	2006/01/09 ( Ver2.1 ) U
			pMapPresentPosion:	L(:pMapMapPresentPosion)
			TransmitShort:	InitMemoryMap삵ȂsC
			WriteFlashRom:	L(:WrihtFlashRom)
			PresentVolts:	"GetBufPresentVolts(p1)""GetPresentVolts(p1)"̊֐ǉ
			ClrMemoryBuf:	"ClrMemoryBuf p1"̖ߒǉ
			InitMemoryMap:	"InitMemoryMap p1"ɕύX(:InitMemoryMap p1,p2)

E߈ꗗ

RS485|[g̃I[vAN[Y
------------------------------------------------------------------------------
R}hT[{[^̃Rg[gꍇɂ́Aŏrs485open߂Ń|[
g̏Kv܂Brs485open߂ł́AɂP̃|[g܂ł
ł܂B̃VA|[g𓯎ɊĎ\tg\z邱Ƃ͂ł
̂łӂB
VA|[ǵAxƁAJ܂ő̃AvP[Vgp
ȂȂĂ܂̂ŁAKŌɃ|[gJ邱ƂYȂłB
ɒʐMɃN[Y{bNXďIĂ܂Ƃ̂Ȃ悤onexit߂Ȃ
ŁAIɒӂ𑣂悤ȃXNvg쐬ĂB

	rs485open  p1, p2, (p3)			RS485|[g̃I[v

		p1:	|[gԍ 0="COM1", 1="COM2"...n="COMn+1"
		p2: {[[g 0=9600bps, 1=14400bps...12=1382400bps
		p3: ^CAEg[ms] (ȗ 100ms)

	rs485close						RS485|[g̃N[Y

R}hT[{[^̃V[gpPbgM
------------------------------------------------------------------------------

	SetServoID p1,p2				ServoID̃V[gpPbgM
	SetBaudRate p1,p2				BaudRatẽV[gpPbgM
	SetCWAngleLimit p1,p2			CWAngleLimit̃V[gpPbgM
	SetCCWAngleLimit p1,p2			CCWAngleLimit̃V[gpPbgM
	SetLoadLimit p1,p2				LoadLimit̃V[gpPbgM
	SetCWComplianceMargin p1,p2		CWComplianceMargiñV[gpPbgM
	SetCCWComplianceMargin p1,p2	CCWComplianceMargiñV[gpPbgM
	SetCWComplianceSlope p1,p2		CWComplianceSlopẽV[gpPbgM
	SetCCWComplianceSlope p1,p2		CCWComplianceSlopẽV[gpPbgM
	SetPunch p1,p2					Punch̃V[gpPbgM
	SetGlobalPosition p1,p2			GlobalPositioñV[gpPbgM
	SetGlobalTime p1,p2				GlobalTimẽV[gpPbgM
	SetAccelerationTime p1,p2		AccelerationTimẽV[gpPbgM
	SetMaxTorque p1,p2				MaxTorquẽV[gpPbgM
	SetTorqueEnable p1,p2			TorqueEnablẽV[gpPbgM
	@SetTorqueON p1				@TorqueĨV[gpPbgM
	@SetTorqueOFF p1				@TorqueIt̃V[gpPbgM
	SetLED p1,p2					LED̃V[gpPbgM
	@SetLEDON p1					@LEDĨV[gpPbgM
	@SetLEDOFF p1					@LEDIt̃V[gpPbgM
	SetPIDCoefficient p1,p2			PIDCoefficient̃V[gpPbgM
	SetLock p1,p2					Lock̃V[gpPbgM

		p1:	IDԍ 0`255
		p2: f[^ SetTorqueON,SetTorqueOFF,SetLEDON,SetLEDOFF͕sv
@@@@[}bvobt@ɂf[^Cg܂B

	SetPositionTime p1,p2,p3,(P4)	GlobalPosition,GlobalTimẽV[gpPbgM
										(^[pPbg̎M)
		p1:	IDԍ 0`255
		p2: GlobalPositionf[^
		p3: GlobalTimef[^
		p4: ^[pPbgԍ 0=,1/3/5/7/9/11/13=L,15=nop (ȗ 0=)
@@@@[}bvobt@ɂf[^Cg܂B
		
	TransmitShort p1,p2,p3,p4,p5	V[gpPbg̑M

		p1:	IDԍ 0`255
		p2: tO
		p3: [}bṽAhX
		p4: f[^̃oCg
		p5: JEg

	WriteFlashRom p1,(p2)			tbVRomւ̏

		p1:	IDԍ 0`255
		p2: 0=ċN, 1=ċNL (ȗ 0=0=ċN)

	RestartServo p1					T[{ċN

		p1:	IDԍ 0`255

	InitMemoryMap p1				[}bv[4-29]̏

		p1:	IDԍ 0`255

R}hT[{[^̃^[f[^M
------------------------------------------------------------------------------

	GetModelNumber(p1)				GetModelNumber̎M
	GetFirmwareVersion(p1)			GetFirmwareVersion̎M
	GetServoID(p1)					ServoID̎M
	GetBaudRate(p1)					BaudRate̎M
	GetCWAngleLimit(p1)				CWAngleLimit̎M
	GetCCWAngleLimit(p1)			CCWAngleLimit̎M
	GetLoadLimit(p1)				LoadLimit̎M
	GetTempLimit(p1)				TempLimit̎M
	GetCWComplianceMargin(p1)		CWComplianceMargin̎M
	GetCCWComplianceMargin(p1)		CCWComplianceMargin̎M
	GetCWComplianceSlope(p1)		CWComplianceSlope̎M
	GetCCWComplianceSlope(p1)		CCWComplianceSlope̎M
	GetPunch(p1)					Punch̎M
	GetGlobalPosition(p1)			GlobalPosition̎M
	GetGlobalTime(p1)				GlobalTime̎M
	GetAccelerationTime(p1)			AccelerationTime̎M
	GetMaxTorque(p1)				MaxTorque̎M
	GetTorqueEnable(p1)				TorqueEnable̎M
	GetLED(p1)						LED̎M
	GetPIDCoefficient(p1)			PIDCoefficient̎M
	GetPresentPosion(p1)			PresentPosion̎M
	GetPresentTime(p1)				PresentTime̎M
	GetPresentSpeed(p1)				PresentSpeed̎M
	GetPresentLoad(p1)				PresentLoad̎M
	GetPresentTemp(p1)				PresentTemp̎M
	GetPresentVolts(p1)				PresentVolts̎M
	GetServoStatus(p1)				ServoStatus̎M
	GetActiveFlag(p1)				ActiveFlag̎M
	GetMoving(p1)					Moving̎M
	GetLock(p1)						Lock̎M

		p1:	IDԍ 0`255@֐^(߂l:f[^)
@@@@[}bvobt@ɂ^[f[^Cg܂B

	GetReturnData p1,p2,(p3),(p4)	^[pPbg̎M

		p1:	IDԍ 0`255
		p2: ^[pPbgԍ 1/3/5/7/9/11/13/15
		p3: AhX (ȗ 0) ^[pPbgԍ15p
		p4: f[^ (ȗ 0) ^[pPbgԍ15p
@@@@[}bvobt@Ƀ^[f[^Cg܂B


[}bvobt@̃[h/Cg
------------------------------------------------------------------------------

	GetBufModelNumber(p1)			GetModelNumber̃obt@[h
	GetBufFirmwareVersion(p1)       GetFirmwareVersioñobt@[h
	GetBufServoID(p1)				ServoID̃obt@[h
	GetBufBaudRate(p1)				BaudRatẽobt@[h
	GetBufCWAngleLimit(p1)			CWAngleLimit̃obt@[h
	GetBufCCWAngleLimit(p1)			CCWAngleLimit̃obt@[h
	GetBufLoadLimit(p1)				LoadLimit̃obt@[h
	GetBufTempLimit(p1)				TempLimit̃obt@[h
	GetBufCWComplianceMargin(p1)	CWComplianceMargiñobt@[h
	GetBufCCWComplianceMargin(p1)	CCWComplianceMargiñobt@[h
	GetBufCWComplianceSlope(p1)		CWComplianceSlopẽobt@[h
	GetBufCCWComplianceSlope(p1)	CCWComplianceSlopẽobt@[h
	GetBufPunch(p1)					Punch̃obt@[h
	GetBufGlobalPosition(p1)		GlobalPositioñobt@[h
	GetBufGlobalTime(p1)			GlobalTimẽobt@[h
	GetBufAccelerationTime(p1)		AccelerationTimẽobt@[h
	GetBufMaxTorque(p1)				MaxTorquẽobt@[h
	GetBufTorqueEnable(p1)			TorqueEnablẽobt@[h
	GetBufLED(p1)					LED̃obt@[h
	GetBufPIDCoefficient(p1)		PIDCoefficient̃obt@[h
	GetBufPresentPosion(p1)			PresentPosioñobt@[h
	GetBufPresentTime(p1)			PresentTimẽobt@[h
	GetBufPresentSpeed(p1)			PresentSpeed̃obt@[h
	GetBufPresentLoad(p1)			PresentLoad̃obt@[h
	GetBufPresentTemp(p1)			PresentTemp̃obt@[h
	GetBufPresentVolts(p1)			PresentVolts̃obt@[h
	GetBufServoStatus(p1)			ServoStatus̃obt@[h
	GetBufActiveFlag(p1)			ActiveFlag̃obt@[h
	GetBufMoving(p1)				Moving̃obt@[h
	GetBufLock(p1)					Lock̃obt@[h

		p1:	IDԍ 0`255@֐^(߂l:f[^)

	SetBufServoID p1,p2				ServoID̃obt@ɃCg
	SetBufBaudRate p1,p2			BaudRatẽobt@ɃCg
	SetBufCWAngleLimit p1,p2		CWAngleLimit̃obt@ɃCg
	SetBufCCWAngleLimit p1,p2		CCWAngleLimit̃obt@ɃCg
	SetBufLoadLimit p1,p2			LoadLimit̃obt@ɃCg
	SetBufCWComplianceMargin p1,p2	CWComplianceMargiñobt@ɃCg
	SetBufCCWComplianceMargin p1,p2	CCWComplianceMargiñobt@ɃCg
	SetBufCWComplianceSlope p1,p2	CWComplianceSlopẽobt@ɃCg
	SetBufCCWComplianceSlope p1,p2	CCWComplianceSlopẽobt@ɃCg
	SetBufPunch p1,p2				Punch̃obt@ɃCg
	SetBufGlobalPosition p1,p2		GlobalPositioñobt@ɃCg
	SetBufGlobalTime p1,p2			GlobalTimẽobt@ɃCg
	SetBufAccelerationTime p1,p2	AccelerationTimẽobt@ɃCg
	SetBufMaxTorque p1,p2			MaxTorquẽobt@ɃCg
	SetBufTorqueEnable p1,p2		TorqueEnablẽobt@ɃCg
	SetBufLED p1,p2					LED̃obt@ɃCg
	SetBufPIDCoefficient p1,p2		PIDCoefficient̃obt@ɃCg
	SetBufLock p1,p2				Lock̃obt@ɃCg

		p1:	IDԍ 0`255
		p2: f[^

	ClrMemoryBuf p1					[}bvobt@̓eSď
		p1:	IDԍ 0`255

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                                          rs485comm users manual / end of file 
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