> For the complete documentation index, see [llms.txt](https://dongilc.gitbook.io/openrobot-inc/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://dongilc.gitbook.io/openrobot-inc/general/additional-guide.md).

# Additional Guide

##

## 1. Install VESCular6 by replacing an existing motor controller

{% tabs %}
{% tab title="English" %}
This section describes the operation of replacing the motor controller of the GIM8008 actuator with the VESCular6.

1\. Remove original motor controller

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtn8MGvEM9aJso-Yz6%2FIMG_6867.jpg?alt=media\&token=72d9c184-69cd-45b4-9d18-6dd24f5827db)

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnBeMbbiBYFomHkBJ%2FIMG_6868.jpg?alt=media\&token=cb94d7a5-2216-4b76-a3a4-99d1591b997f)

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnHdh2tyZUvcsoPPD%2FIMG_6869.jpg?alt=media\&token=01256554-5b2a-4353-a2a5-bd839e3dc3df)

2\. Design 3D Printed Cover for VESCular6

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnvxXpL7LVsUh0Scw%2Ff.png?alt=media\&token=3e98361c-ec20-4b8d-a7ad-038f38cb2d9a)

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnvxYjJBrvCY9-OPj%2Fb.png?alt=media\&token=a597c67f-0d04-4a05-8800-818ad4194e89)

3\. Extend power line for avoiding interference.

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtoRsWLs2-I2PYDJxY%2FIMG_6925.jpg?alt=media\&token=26af59a8-e760-4e87-9cd0-256223bf372e)

4\. Complete to replace motor controller. 

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtobRzSpvitjmKqTYN%2FIMG_7245.jpg?alt=media\&token=52ffe0a2-a3c4-4a8a-ad1b-2e7cec3e57da)

##

{% endtab %}

{% tab title="Korean" %}
Steadywin 사의 GIM8008 액츄에이터의 모터제어기를 VESCular6로 교제하는 작업에 대해 설명한다.

1.기존 모터제어기 제거

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtn8MGvEM9aJso-Yz6%2FIMG_6867.jpg?alt=media\&token=72d9c184-69cd-45b4-9d18-6dd24f5827db)

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnBeMbbiBYFomHkBJ%2FIMG_6868.jpg?alt=media\&token=cb94d7a5-2216-4b76-a3a4-99d1591b997f)

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnHdh2tyZUvcsoPPD%2FIMG_6869.jpg?alt=media\&token=01256554-5b2a-4353-a2a5-bd839e3dc3df)

2.VESCular6 커버 3D프린터로 설계

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnvxXpL7LVsUh0Scw%2Ff.png?alt=media\&token=3e98361c-ec20-4b8d-a7ad-038f38cb2d9a)

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtnvxYjJBrvCY9-OPj%2Fb.png?alt=media\&token=a597c67f-0d04-4a05-8800-818ad4194e89)

3.간섭으로 인 전원커넥터 외부로 빼내

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtoRsWLs2-I2PYDJxY%2FIMG_6925.jpg?alt=media\&token=26af59a8-e760-4e87-9cd0-256223bf372e)

4\. VESCular6 장착 완

![](https://3677833903-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MPh9nV0vD5j4rQHJn-_%2F-MTtn4Cbjh48-eXPmsYJ%2F-MTtobRzSpvitjmKqTYN%2FIMG_7245.jpg?alt=media\&token=52ffe0a2-a3c4-4a8a-ad1b-2e7cec3e57da)
{% endtab %}
{% endtabs %}

{% file src="/files/-MbMcToJVIiACABWFYEQ" %}
VESCular6 v11 CAD data
{% endfile %}

{% file src="/files/-MbMdWByNMB0uykgVTn1" %}
VESCular6 Cover Cad for GIM8008 with Large Capacitor
{% endfile %}

{% file src="/files/-MbMdJvsLMbqxq217TQe" %}
VESCular6 Cover Cad for GIM8008 without Large Capacitor
{% endfile %}

## 2. PID Controllers Gain Setting

## 3. Connect using UART

## 4. NRF Remote Control

## 5. IMU