Public Port Section（0-10）
Get version information
Register:1(0x01)
// Request:
00 01 00 02 00 01 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//01 U8, Register
// Response:
00 01 00 02 00 2A 01 00 36 2C 36 2C 58 49 31 32 30 32 2C 41 43 31 33 30 32 2C 76 31 2E 31 32 2E 31 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 2A U16, Length
//01 U8, Register
//00 U8, State
//36 2C 36 2C U8, Type, Axes, 6,6,
//58 49 31 32 30 32 2C U8, xArm Version XI1202,
//41 43 31 33 30 32 2C U8, Control Box Version AC1302,
//76 31 2E 31 32 2E 31 30 U8, Firmware Version v1.12.10
//00 00 00 00 00 00 00 00 00 00 00 00 00 00 U8, null
Get SN information
Register:2(0x02)
// Request:
00 01 00 02 00 01 02Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//02 U8, Register
// Response:
00 01 00 02 00 2A 02 00 58 49 31 32 30 32 30 34 32 30 31 42 30 32 00 41 43 31 33 30 32 30 32 42 30 32 4C 30 32 0A 00 00 00 00 00 00 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 2A U16, Length
//02 U8, Register
//00 U8, State
//58 49 31 32 30 32 30 34 32 30 31 42 30 32 00 U8, XI120204201B02
//41 43 31 33 30 32 30 32 42 30 32 4C 30 32 0A U8, AC130202B02L02
//00 00 00 00 00 00 00 00 00 00 U8, null
Reload friction parameters
Register:4(0x04)
// Request:
00 01 00 02 00 01 04Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//04 U8, Register
// Response:
00 01 00 02 00 02 04 10Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//04 U8, Register
//10 U8, State
Get the value of Joint torque or actual current
Register:5(0x05)
// Request:
00 01 00 02 00 01 05Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//05 U8, Register
// Response:
>00 01 00 02 00 03 05 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//05 U8, Register
//00 U8, State
//00 U8, 0: Theoretical joint torque 1: Actual current of servo
Get the radius of rotation of the target joint relative to the TCP
Register:6(0x06)
// Request:
00 01 00 02 00 02 06 06Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//06 U8, Register
//06 U8, Parameter 1(target joint:6)
// Response:
00 01 00 02 00 06 06 10 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 06 U16, Length
//06 U8, Register
//10 U8, State
//00 00 00 00 U8, Parameter 1(Radius of rotation)
Read whether some configs are enabled or not
Register: 07(0x07)
// Request:
00 01 00 02 00 01 07Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//07 U8, Register
// Response:
00 01 00 02 00 06 07 00 00 00 00 01Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 06 U16, Length
//07 U8, Register
//00 U8, State
//00 00 00 01 U32, bit0: Bypassing Singularities, bit1~31: Reserved.
Remote shut down the operating system
Register:10(0x0A）
// Request:
00 01 00 02 00 02 0A 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//0A U8, Register
//01 U8, 1:remote shut down the operating system temporarily 2:reboot
// Response:
00 01 00 02 00 02 0A 10Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//0A U8, Register
//10 U8, State