Motion Parameter Setting(31-40)

Set the jerk of the Cartesian space translation

Register:31 (0x1F)

// Request:
00 01 00 02 00 05 1F 00 00 FA 44

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 05 U16, Length

//1F U8, Register

//00 00 FA 44 FP32, TCP Jerk=2000 mm/s³

// Response:
00 01 00 02 00 04 1F 00 00 01

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 04 U16, Length

//1F U8, Register

//00 U8, State

//00 01 U16, The number of commands in the buffer

Set the maximum acceleration of the Cartesian space translation

Register:32 (0x20)

// Request:
00 01 00 02 00 05 20 00 80 BB 45

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 05 U16, Length

//20 U8, Register

//00 80 BB 45 FP32, Maximum acceleration=6000 mm/s²

// Response:
00 01 00 02 00 04 20 00 00 01

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 04 U16, Length

//20 U8, Register

//00 U8, State

//00 01 u16, The number of commands in the buffer

Set the joint space jerk

Register:33 (0x21)

// Request:
00 01 00 02 00 05 21 00 40 1C 46

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 05 U16, Length

//21 U8, Register

//00 40 1C 46 FP32, Jerk=10000 rad/s³

// Response:
00 01 00 02 00 04 21 00 00 01

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 04 U16, Length

//21 U8, Register

//00 U8, State

//00 01 u16, The number of commands in the buffer

Set joint space max acceleration

Register:34 (0x22)

// Request:
00 01 00 02 00 05 22 00 00 C8 43

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 05 U16, Length

//22 U8, Register

//00 00 C8 43 FP32, Jerk=10000 rad/s³

// Response:
00 01 00 02 00 04 22 00 00 01

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 04 U16, Length

//22 U8, Register

//00 U8, State

//00 01 u16, The number of commands in the buffer

Set TCP offset

Register:35 (0x23)

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 19 23 00 00 C8 43 00 00 00 00 00 00 48 43 DB 0F 49 40 00 00 00 00 00 00 00 00

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 19 U16, Length

//23 U8, Register

//00 00 C8 43 FP32, x=400 mm

//00 00 00 00 FP32, y=0 mm

//00 00 48 43 FP32, z=200 mm

//DB 0F 49 40 FP32, roll=π

//00 00 00 00 FP32, pitch=0

//00 00 00 00 FP32, yaw=0

// Response:
00 01 00 02 00 02 23 10

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//23 U8, Register

//10 U8, State

Set TCP payload

Register:36 (0x24)

// Request:
00 01 00 02 00 11 24 00 00 80 3F 00 00 C8 43 00 00 00 00 00 00 48 43

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 11 U16, Length

//24 U8, Register

//00 00 80 3F FP32, Payload=1kg

//00 00 C8 43 FP32, Payload center of mass X=400mm

//00 00 00 00 FP32, Payload center of mass Y=0

//00 00 48 43 FP32, Payload center of mass Z=200mm

// Response:
00 01 00 02 00 02 24 20

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//24 U8, Register

//20 U8, State

Set collision detection sensitivity (System reset)

Register:37(0x25)

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 02 25 04

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//25 U8, Register

//04 U8, Detect sensitivity=4

// Response:
00 01 00 02 00 02 25 10

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//25 U8, Register

//10 U8, State

Set teaching sensitivity for manual mode (System reset)

Register:38(0x26)

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 02 26 04

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//26 U8, Register

//04 U8, Teach sensitivity=4

// Response:
00 01 00 02 00 02 26 10

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//26 U8, Register

//10 U8, State

Delete the current system configuration parameters

Register:39 (0x27)

//Request
00 01 00 02 00 01 27

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 01 U16, Length

//27 U8, Register

// Response:
00 01 00 02 00 02 27 10

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//27 U8, Register

//10 U8, State

Save the current system configuration parameters

Register:40 (0x28)

//Request
00 01 00 02 00 01 28

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 01 U16, Length

//28 U8, Register

// Response:
00 01 00 02 00 02 28 10

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//28 U8, Register

//10 U8, State