System State(11-20)
Enable/Disable servo (System reset)
Register:11(0x0B)
warning:
The above operations will terminate the ongoing movement of the robotic arm and clear the cache commands, which is the same as the STOP state.
// Request:
00 01 00 02 00 03 0B 08 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//0B U8, Register
//08 U8,
Joint Number(Select all joints)
1-7：Motor joint(1-7)
8：Select all joint
//01 U8,
Whether to enable the servo
1：Enable servo
0：Disable servo
// Response:
00 01 00 02 00 02 0B 10Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//0B U8, Register
//10 U8, State
Motion state setting
Register:12(0x0C)
// Request:
00 01 00 02 00 02 0C 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//0C U8, Register
//00 U8,
Motion Sate
0: Enter the motion mode
3: Suspend the current motion(Do not clear controller cache)
4: Stop all current motion (restart the system,clear controller cache)
// Response:
00 01 00 02 00 02 0C 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//0C U8, Register
//00 U8, State
Get the motion state
Register:13 (0x0D)
// Request:
00 01 00 02 00 01 0DRequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//0D U8, Register
// Response:
00 01 00 02 00 03 0D 00 02Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//0D U8, Register
//02 U8,
Motion state：
1：In motion
2：Sleep
3：Suspend
4：Stop
5： System reset
Get the number of commands in the command buffer
Register:14 (0x0E)
// Request:
00 01 00 02 00 01 0ERequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//0E U8, Register
// Response:
00 01 00 02 00 04 0E 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//0E U8, Register
//00 U8, State
//00 00 U16, The number of commands in the buffer
Get error and warning code
Register:15 (0x0F)
// Request:
00 01 00 02 00 01 0FRequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//0F U8, Register
// Response:
00 01 00 02 00 04 0F 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//0F U8, Register
//00 U8, State
//00 U8, Error code
//00 U8, Warning code
Clear control box error (System reset)
Register:16 (0x10)
warning:
The above operations will terminate the ongoing movement of the robotic arm and clear the cache commands, which is the same as the STOP state.
// Request:
00 01 00 02 00 01 10Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//10 U8, Register
// Response:
00 01 00 02 00 02 10 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//10 U8, Register
//00 U8, State
Clear control box warning
Register:17 (0x11)
// Request:
00 01 00 02 00 01 11Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//11 U8, Register
// Response:
00 01 00 02 00 02 11 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//11 U8, Register
//00 U8, State
Setting the brake switches separately (System reset)
Register:18 (0x12)
// Request:
00 01 00 02 00 03 12 08 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//12 U8, Register
//08 U8, 1~6: Select motor joint separately 8: Select all joints
//01 U8, 0: Disable Joint 1: Unlock Joint
// Response:
00 01 00 02 00 02 12 10Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//12 U8, Register
//10 U8, State
Setting the system motion mode (System reset)
Register:19 (0x13)
warning:
This operation will terminate the ongoing movement of the robot and clear the cache commands, which is the same as the STOP state.
// Request:
00 01 00 02 00 03 13 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//13 U8, Register
//00 U8, Motion mode
0: Position control mode
1: Servo motion mode
2: Joint teaching mode (manual mode)
3: Cartesian teaching mode (not yet available)
4: Joint velocity control mode
5: Cartesian velocity control mode
6: Joint online trajectory planning mode
7: Cartesian online trajectory planning mode
//00 U8, Payload detection before enabling manual mode. 0 is ON, 1 is OFF.
// Response:
00 01 00 02 00 02 13 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//13 U8, Register
//00 U8, State