Other Robotic Arm Function(51-70)

Set the gravity direction

Register:51 (0x33)

warning
Set the gravity direction for correct torque compensation and collision detection. After modification, it shall call the save_conf () function or refer to Register: 40(28) to save the setting, otherwise it will be invalid after reboot.

// Request:
00 01 00 02 00 0D 33 00 00 00 00 00 00 00 00 00 00 80 BF

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0D U16, Length
//33 U8, Register
//00 00 00 00 FP32, Gravity direction vector X=0 base coordinate system
//00 00 00 00 FP32, Gravity direction vector Y=0 base coordinate system
//00 00 80 BF FP32, Gravity direction vector Z=-1 base coordinate system

// Response:
00 01 00 02 00 02 33 10

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//33 U8, Register
//10 U8, State

Set the safe boundary

Register:52 (0x34)

warning
C35 Set the boundary range of the safety fence in the three-dimensional space. If TCP of the robotic arm exceeds this boundary, error C35 of the Control Box will be triggered.

// Request:
00 01 00 02 00 19 34 58 02 00 00 C8 00 00 00 F4 01 00 00 64 00 00 00 58 02 00 00 C8 00 00 00

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 19 U16, Length
//34 U8, Register
//58,02,00,00 FP32, Cartesian boundary value x+ =600 mm
//C8,00,00,00 FP32, Cartesian boundary value x- =200 mm
//F4,01,00,00 FP32, Cartesian boundary value y+ =500 mm
//64,00,00,00 FP32, Cartesian boundary value y- =100 mm
//58,02,00,00 FP32, Cartesian boundary value z+ =600 mm
//C8,00,00,00 FP32, Cartesian boundary value z- =200 mm

// Response:
00 01 00 02 00 02 34 10

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//34 U8, Register
//10 U8, State

Get all configurations of the Reduced Mode

Register:53 (0x35)

// Request:
00 01 00 02 00 01 35

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//35 U8, Register

// Response:
00 01 00 02 00 51 35 00 01 01 2C 00 64 01 2C FF F6 01 2C 00 32 00 00 C8 42 DB 0F 49 40 DB 0F C9 C0 DB 0F C9 40 15 C6 03 C0 91 0A 06 40 CE 53 7B C0 68 96 44 3E DB 0F C9 C0 DB 0F C9 40 35 B3 D8 BF DB 0F 49 40 DB 0F C9 C0 DB 0F C9 40 00 00 00 00 00 00 00 00 01 01

Response Description
//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 51    U16, Length 
//35       U8, Register
//10       U8, State
//10       U8, State
//00	   U16,	The state of Reduce mode: 0-OFF; 1-ON
//01 2C 00 64  01 2C FF F6 01 2C 00 32
int16*6, safety boundary
[x_max=300, x_min=100, y_max=300, y_min=-10, z_max=300, z_min=50]

//00 00 C8 42 FP32, Max TCP speed=100mm/s
//DB 0F 49 40 FP32, max Joint speed=180 °/s

//DB 0F C9 C0 DB 0F C9 40 15 C6 03 C0 91 0A 06 40 CE 53 7B C0 68 96 44 3E DB 0F C9 C0 DB 0F C9 40 35 B3 D8 BF DB 0F 49 40 DB 0F C9 C0 DB 0F C9 40 00 00 00 00 00 00 00 00 	
FP32*7, Joint range: [J1_min, J1_max, …, J7_min, J7_max]

//01  U8, The state of Safety Boundary: 0- OFF; 1-ON
//01  U8, The state of Collision Rebound: 0- OFF; 1-ON

Get the current of each joint

Register:55 (0x37)

warning
Estimate the joint torque based on current and theoretical model, which is for reference only

// Request:
00 01 00 02 00 01 37

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//37 U8, Register

// Response:
00 01 00 02 00 1E 37 00 17 37 00 00 00 00 00 2A C5 5B C1 79 A4 C5 C0 00 00 00 00 87 A3 E9 BF 00 00 00 00 00 00 00 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1E U16, Length
//37 U8, Register
//00 U8, State
//00 00 00 00 FP32, Theoretical torque of joint1 = 0
//2A C5 5B C1 FP32, Theoretical torque of joint2 = -13.7 N.m
//79 A4 C5 C0 FP32, Theoretical torque of joint3 = -6.17 N.m
//00 00 00 00 FP32, Theoretical torque of joint4 = 0
//87 A3 E9 BF FP32, Theoretical torque of joint5 = -1.83N.m
//00 00 00 00 FP32, Theoretical torque of joint6 = 0
//00 00 00 00 FP32, Theoretical torque of joint7 = 0

Set Joint Range Limit of Reduced Mode

Register:58 (0x3A)

// Request:
00 01 00 02 00 39 3A C2 F5 48 C0 C2 F5 48 40 33 33 03 C0 8F C2 05 40	C2 F5 48 C0 C2 F5 48 40 5C 8F 42 BE 47 E1 7A 40 C2 F5 48 C0 C2 F5 48 40 EB 51 D8 BF C8 00 00 00 C2 F5 48 C0 C2 F5 48 40

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 39 U16, Length
//3A U8, Register
//C2 F5 48 C0 C2 F5 48 40 FP32, J1_min = -3.14rad,J1_max = 3.14rad
//33 33 03 C0 8F C2 05 40 FP32, J2_min = -2.05rad,J2_max = 20.9rad
//C2 F5 48 C0 C2 F5 48 40 FP32, J3_min = -3.14rad,J3_max = 3.14rad
//5C 8F 42 BE 47 E1 7A 40 FP32, J4_min = -0.19rad,J4_max = 3.92rad
//C2 F5 48 C0 C2 F5 48 40 FP32, J5_min = -3.14rad,J5_max = 3.14rad
//EB 51 D8 BF C8 00 00 00 FP32, J6_min = -1.69rad,J6_max = 3.14rad
//C2 F5 48 C0 C2 F5 48 40 FP32, J7_min = -3.14rad,J7_max = 3.14rad

// Response:
00 01 00 02 00 02 3A 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3A U8, Register
//00 U8, State

Safety boundary switch

Register: 59 (0x3B)

warning
Set the safety boundary in three-dimensional space. If the TCP of the robot exceeds this boundary, error C35 will be triggered.

// Request:
00 01 00 02 00 02 3B 00

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3B U8, Register
//00 U8, 0: Disable safety boundary. 1: Enable safety boundary.

// Response:
00 01 00 02 00 02 3B 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3B U8, Register
//00 U8, State

Set the state of Collision Rebound

Register:60 (0x3C)

// Request:
00 01 00 02 00 02 3C 00

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3C U8, Register
//00 U8, Collision Rebound switch 0-OFF; 1-ON

// Response:
00 01 00 02 00 02 3C 10

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3C U8, Register
//00 U8, State

Start/Stop trajectory record

Register:61 (0x3D)

// Request:
00 01 00 02 00 02 3D 00

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3D U8, Register
//00 U8, 0-Stop trajectory record, 1-start trajectory record

// Response:
00 01 00 02 00 02 3D 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3D U8, Register
//00 U8, State

Save recorded trajectory

Register:62 (0x3E)

// Request:
00 01 00 02 00 0A 3E 74 65 73 74 2E 74 72 61 6A

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0A U16, Length
//3E U8, Register
//74 65 73 74 2E 74 72 61 6A U8,Trajectory name (max length:80 Bytes)
e. g. test.traj

// Response:
00 01 00 02 00 02 3E 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3E U8, Register
//00 U8, State

Load recorded trajectory

Register:63 (0x3F)

// Request:
00 01 00 02 00 0A 3F 74 65 73 74 2E 74 72 61 6A

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0A U16, Length
//3F U8, Register
//74 65 73 74 2E 74 72 61 6A U8,Trajectory name (max length:80 Bytes)
e. g. test.traj

// Response:
00 01 00 02 00 02 3F 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//3F U8, Register
//00 U8, State

Playback recorded trajectory

Register:64 (0x40)

// Request:
00 01 00 02 00 09 40 00 00 00 01 00 00 00 01

Request Description

//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 09 U16, Length
//40 U8, Register
//00 00 00 01 FP32, Cycles of playback
//00 00 00 01 FP32, playback speed
1: 1x speed
2: 2x speed
4: 4x speed

// Response:
00 01 00 02 00 02 40 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//40 U8, Register
//00 U8, State

Get the state of recorded trajectory

Register:65 (0x41)

// Request:
00 01 00 02 00 01 41

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//41 U8, Register

// Response:
00 01 00 02 00 03 41 00 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//41 U8, Register
//00 U8, State
//00 U8,
0: no read/write
1: loading
2: load success
3: load failed
4: saving
5: save success
6: save failed

Set allow to avoid over speed near some singularities using approximate solutions

Register: 66 (0x42)

//Request
00 01 00 02 00 02 42 00

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//42 U8, Register
//00 U8, 0 :Not allow ,1 :allow

// Response:
00 01 00 02 00 02 42 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//42 U8, Register
//00 U8, State

Get D-H parameters

Register: 67 (0x43)

//Request
00 01 00 02 00 01 43

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//43 U8, Register

// Response:
00 01 00 02 00 72 43 00 00 00 00 00 00 80 85 43 00 00 00 00 00 00 00 00 FD 44 B1 BF 00 00 00 00 DB 0F C9 BF 00 00 00 00 FD 44 B1 3F 00 00 00 00 00 00 00 00 49 BE 90 43 00 00 00 00 00 40 AB 43 DB 0F C9 BF 00 00 9B 42 00 00 00 00 00 00 00 00 DB 0F C9 3F 00 00 00 00 00 00 00 00 00 00 C2 42 DB 0F C9 BF 00 00 98 42 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Response Description

//00 01 U16, Transaction ID //00 02 U16, Protocol Identifier //00 72 U16, Length //43 U8, Register //00 U8, State

Note: 4 float parameters per joint
A total of 112 bytes, 28 floating-point data,
only the first 24 floating-point data of the xArm6 are valid data
T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°)
T3_offset = atan(284.5/53.5)+atan(0.3425/0.0775) = 2.7331843 (156.599924°)
a2 = sqrt(284.5^2+53.5^2) = 289.48866
T4_offset = -atan(342.5/77.5) = -1.3482664 (-77.249974°)
a3 = sqrt(77.5^2+342.5^2) = 351.158796
For example: xArm6 SN:XI120204201B02
//J1 d(mm):267 alpha(rad):0 a(mm):0 offset(rad):0
00 00 00 00
00 80 85 43
00 00 00 00
00 00 00 00
//J2 d(mm):0 alpha(rad):-pi/2 a(mm):0 offset(rad):T2_offset
FD 44 B1 BF
00 00 00 00
DB 0F C9 BF
00 00 00 00
//J3 d(mm):0 alpha(rad):0 a(mm):a2 offset(rad):T3_offset
FD 44 B1 3F
00 00 00 00
00 00 00 00
49 BE 90 43
//J4 d(mm):342.5 alpha(rad):-pi/2 a(mm):77.5 offset(rad):0
00 00 00 00
00 40 AB 43
DB 0F C9 BF
00 00 9B 42
//J5 d(mm):0 alpha(rad):pi/2 a(mm):0 offset(rad):0
00 00 00 00
00 00 00 00
DB 0F C9 BF
00 00 00 00
//J6 d(mm):97 alpha(rad):-pi/2 a(mm):76 offset(rad):0
00 00 00 00
00 00 C2 42
DB 0F C9 BF
00 00 98 42
//J7 Null
00 00 00 00
00 00 00 00
00 00 00 00
00 00 00 00

Set D-H parameters

Register: 68 (0x44)

// Request:
00 01 00 02 00 73 44 00 00 00 00 00 00 80 85 43 00 00 00 00 00 00 00 00 FD 44 B1 BF 00 00 00 00 DB 0F C9 BF 00 00 00 00 FD 44 B1 3F 00 00 00 00 00 00 00 00 49 BE 90 43 00 00 00 00 00 40 AB 43 DB 0F C9 BF 00 00 9B 42 00 00 00 00 00 00 00 00 DB 0F C9 3F 00 00 00 00 00 00 00 00 00 00 C2 42 DB 0F C9 BF 00 00 98 42 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 73 U16, Length
//44 U8, Register
Note:
4 float parameters per joint
A total of 112 bytes, 28 floating-point data,
only the first 24 floating-point data of the xArm6 are valid data
T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°)
T3_offset = atan(284.5/53.5)+atan(0.3425/0.0775) = 2.7331843 (156.599924°)
a2 = sqrt(284.5^2+53.5^2) = 289.48866
T4_offset = -atan(342.5/77.5) = -1.3482664 (-77.249974°)
a3 = sqrt(77.5^2+342.5^2) = 351.158796
For example: xArm6 SN:XI120204201B02
//J1 d(mm):267 alpha(rad):0 a(mm):0 offset(rad):0
00 00 00 00
00 80 85 43
00 00 00 00
00 00 00 00
//J2 d(mm):0 alpha(rad):-pi/2 a(mm):0 offset(rad):T2_offset
FD 44 B1 BF
00 00 00 00
DB 0F C9 BF
00 00 00 00
//J3 d(mm):0 alpha(rad):0 a(mm):a2 offset(rad):T3_offset
FD 44 B1 3F
00 00 00 00
00 00 00 00
49 BE 90 43
//J4 d(mm):342.5 alpha(rad):-pi/2 a(mm):77.5 offset(rad):0
00 00 00 00
00 40 AB 43
DB 0F C9 BF
00 00 9B 42
//J5 d(mm):0 alpha(rad):pi/2 a(mm):0 offset(rad):0
00 00 00 00
00 00 00 00
DB 0F C9 BF
00 00 00 00
//J6 d(mm):97 alpha(rad):-pi/2 a(mm):76 offset(rad):0
00 00 00 00
00 00 C2 42
DB 0F C9 BF
00 00 98 42
//J7 Null
00 00 00 00
00 00 00 00
00 00 00 00
00 00 00 00
//00 U8,Set flag
0: use the set DH parameters, but do not save to the configuration file
1: Use the set DH parameters and save them to the configuration file
2: Use the set DH parameters and delete the configuration file
3: Use the default DH parameters, but do not delete the configuration file
4: Use the default DH parameters and delete the configuration file

// Response:
00 01 00 02 00 02 44 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//44 U8, Register
//00 U8, State

Get the currently executing command

It needs to be parsed according to different registers

Register: 69 (0x45)

// Request:
00 01 00 02 00 01 45

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//45 U8, Register

// Response:
00 01 00 02 00 2B 45 00 17 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 C2 B8 B2 3E 58 A0 0B 41 00 00 00 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 2B U16, Length
//45 U8, Register
//00 U8, State
//17 U8,
Current execution motion instruction register:
0x15: Cartesian linear motion
0x16: Linear motion with arc blending
0x17: P2P joint movement
0x18: joint blending movement
0x19: Back to zero movement
0x1B: arc movement
0x1C: Linear motion in tool coordinate system
0x5C: linear motion of axis angle attitude target
//00 00 00 00 FP32, Joint1=0
//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
//C2 B8 B2 3E FP32, speed=20π/180 rad/s
//58 A0 0B 41 FP32, 500π/180 rad/s²
//00 00 00 00 FP32, motion time=0

Select current data or torque data to report

Correspond to the report contents "60~87 Bytes" of TCP ports 30001/30002/30003

Register: 70 (0x46)

// Request:
00 01 00 02 00 02 46 00

Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//46 U8, Register
//00 U8,
value of theoretical joint torque
0: value of theoretical joint torque, unit : Nm
1: value of actual current of servo, unit : A

// Response:
00 01 00 02 00 02 46 00

Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//46 U8, Register
//00 U8, State

Other Robotic Arm Function(51-70) ​

Set the gravity direction ​

Set the safe boundary ​

Get all configurations of the Reduced Mode ​

Get the current of each joint ​

Set Joint Range Limit of Reduced Mode ​

Safety boundary switch ​

Set the state of Collision Rebound ​

Start/Stop trajectory record ​

Save recorded trajectory ​

Load recorded trajectory ​

Playback recorded trajectory ​

Get the state of recorded trajectory ​

Set allow to avoid over speed near some singularities using approximate solutions ​

Get D-H parameters ​

Set D-H parameters ​

Get the currently executing command ​

Select current data or torque data to report ​