> 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

![](/files/-MTtn8MGvEM9aJso-Yz6)

![](/files/-MTtnBeMbbiBYFomHkBJ)

![](/files/-MTtnHdh2tyZUvcsoPPD)

2\. Design 3D Printed Cover for VESCular6

![](/files/-MTtnvxXpL7LVsUh0Scw)

![](/files/-MTtnvxYjJBrvCY9-OPj)

3\. Extend power line for avoiding interference.

![](/files/-MTtoRsWLs2-I2PYDJxY)

4\. Complete to replace motor controller. 

![](/files/-MTtobRzSpvitjmKqTYN)

##

{% endtab %}

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

1.기존 모터제어기 제거

![](/files/-MTtn8MGvEM9aJso-Yz6)

![](/files/-MTtnBeMbbiBYFomHkBJ)

![](/files/-MTtnHdh2tyZUvcsoPPD)

2.VESCular6 커버 3D프린터로 설계

![](/files/-MTtnvxXpL7LVsUh0Scw)

![](/files/-MTtnvxYjJBrvCY9-OPj)

3.간섭으로 인 전원커넥터 외부로 빼내

![](/files/-MTtoRsWLs2-I2PYDJxY)

4\. VESCular6 장착 완

![](/files/-MTtobRzSpvitjmKqTYN)
{% 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