Get Motion Information(41-50)
Get the current Cartesian position of the robot
Register:41(0x29）
// Request:
00 01 00 02 00 01 29Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//29 U8, Register
// Response:
00 01 00 02 00 1A 29 10 43 00 4F 43 B4 CE 18 3A 3A 00 E0 42 DB 0F 49 40 FD AD 80 B6 7C D9 20 37Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1A U16, Length
//29 U8, Register
//10 U8, State
//43 00 4F 43 FP32, x= 207mm
//B4 CE 18 3A FP32, y=0 mm
//3A 00 E0 42 FP32, z=112 mm
//DB 0F 49 40 FP32, roll=π
//FD AD 80 B6 FP32, pitch=0
//7C D9 20 37 FP32, yaw=0
Get the current joint position of the robot
Register:42 (0x2A)
// Request:
00 01 00 02 00 01 2ARequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//2A U8, Register
// Response:
00 01 00 02 00 1E 2A 00 92 0A 86 3F 00 00 00 00 00 00 00 00 00 00 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 1E U16, Length
//2A U8, Register
//00 U8, State
//92 0A 86 3F FP32, Joint1=1.0471 rad
//00 00 00 00 FP32, Joint2=0 rad
//00 00 00 00 FP32, Joint3=0 rad
//00 00 00 00 FP32, Joint4=0 rad
//00 00 00 00 FP32, Joint5=0 rad
//00 00 00 00 FP32, Joint6=0 rad
//00 00 00 00 FP32, Joint7=0 rad
Get the solution of the inverse kinematics
Register:43 (0x2B)
// Request:
00 01 00 02 00 19 2B 00 00 C8 43 00 00 00 00 00 00 48 43 DB 0F 49 40 00 00 00 00 00 00 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 19 U16, Length
//2B 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 rad
//00 00 00 00 FP32, pitch=0 rad
//00 00 00 00 FP32, yaw=0 rad
// Response:
00 01 00 02 00 1E 2B 00 D8 C8 B2 A4 0A 86 A7 3D B1 22 24 BF F2 A9 3C 8A EF 31 0F 3F D8 C8 B2 A4 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1E U16, Length
//2B U8, Register
//00 U8, State
//D8 C8 B2 A4 FP32, J1=0 rad
//0A 86 A7 3D FP32, J2=0.081803 rad
//B1 22 24 BF FP32, J3=-0.641152 rad
//F2 A9 3C 8A FP32, J4=0 rad
//EF 31 0F 3F FP32, J5=0.5593 rad
//D8 C8 B2 A4 FP32, J6=0 rad
//00 00 00 00 FP32, J7=0 rad
Get the solution of the forward kinematics
Register:44 (0x2C)
// Request:
00 01 00 02 00 1D 2C 92 0A 86 3F 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1D U16, Length
//2C U8, Register
//92 0A 86 3F FP32, Joint1= π/3 rad
//00 00 00 00 FP32, Joint2=0 rad
//00 00 00 00 FP32, Joint3=0 rad
//00 00 00 00 FP32, Joint4=0 rad
//00 00 00 00 FP32, Joint5=0 rad
//00 00 00 00 FP32, Joint6=0 rad
//00 00 00 00 FP32, Joint7=0 rad
// Response:
00 01 00 02 00 1A 2C 00 FF FF CE 42 6B 44 33 43 00 00 E0 42 DB 0F 49 C0 00 00 00 80 92 0A 86 3FResponse Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1A U16, Length
//2C U8, Register
//00 U8, State
//FF FF CE 42 FP32, x=103.5 mm
//6B 44 33 43 FP32, y=179.27 mm
//00 00 E0 42 FP32, z=112 mm
//DB 0F 49 C0 FP32, roll=-π rad
//00 00 00 80 FP32, pitch=-0 rad
//92 0A 86 3F FP32, yaw=-π/3 rad
Check the limit of joint space
Register:45 (0x2D)
// Request:
00 01 00 02 00 1D 2D 92 0A 86 3F 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1D U16, Length
//2D U8, Register
//92 0A 86 3F FP32, joint1=π/3
//00 00 00 00 FP32, joint2=0
//00 00 00 00 FP32, joint3=0
//00 00 00 00 FP32, joint4=0
//00 00 00 00 FP32, joint5=0
//00 00 00 00 FP32, joint6=0
//00 00 00 00 FP32, joint7=0
// Response:
00 01 00 02 00 03 2D 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//2D U8, Register
//00 U8, State
//00 U8, 1 ：Collision occurs , 0 ：No collision occurs
Set TCP speed limit in Reduced Mode
Register:47 (0x2F)
// Request:
00 01 00 02 00 05 2F 00 00 C8 43Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//2F U8, Register
//00 00 C8 43 U8, Max TCP speed=400 mm/s
// Response:
00 01 00 02 00 02 2F 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//2F U8, Register
//00 U8, State
Set Joint speed limit in Reduced Mode
Register:48 (0x30)
// Request:
00 01 00 02 00 05 30 00 00 80 3FRequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//30 U8, Register
//00 00 C8 43 U8, Max joint speed=1.0 rad/s
// Response:
00 01 00 02 00 02 30 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//30 U8, Register
//00 U8, State
Get the state of the Reduced Mode
Register:49 (0x31)
// Request:
00 01 00 02 00 01 31Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//31 U8, Register
// Response:
00 01 00 03 00 03 31 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//31 U8, Register
//00 U8, State
//00 U8, 0 means OFF; 1 means ON
Set the state of the Reduced Mode
Register:50 (0x32)
// Request:
00 01 00 02 00 02 32 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//32 U8, Register
//00 U8, 0: turn off Reduced Mode 1: turn on Reduced Mode
// Response:
00 01 00 03 00 02 32 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//32 U8, Register
//00 U8, State