Other Robotic Arm Function(81-100)
Joint velocity control
Register:81 (0x51)
warning
Set target joint velocity for joint velocity mode (mode 4)
// Request:
00 01 00 02 00 22 51 91 0A 06 3F CC CC CC BD 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 CC CC 4C 3ERequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 22 U16, Length
//51 U8, Register
//91 0A 06 3F FP32, Joint 1 target velocity: π/6 rad/s
//CC CC CC BD FP32, Joint 2 target velocity: -0.1 rad/s
//00 00 00 00 FP32, Joint 3 target velocity: 0 rad/s
//00 00 00 00 FP32, Joint 4 target velocity: 0 rad/s
//00 00 00 00 FP32, Joint 5 target velocity: 0 rad/s
//00 00 00 00 FP32, Joint 6 target velocity: 0 rad/s
//00 00 00 00 FP32, Joint 7 target velocity: 0 rad/s
//01 U8, whether all joints accelerate and decelerate synchronously: 1-True
//CC CC 4C 3E FP32, duration: 0.2s
// Response:
00 01 00 02 00 02 51 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//51 U8, Register
//00 U8, State
Cartesian velocity control
Register:82 (0x52)
warning
Set target Cartesian linear velocity and angular velocity, for cartesian velocity control mode (mode 5)
// Request:
00 01 00 02 00 1E 52 00 00 F0 41 00 00 00 00 00 00 A0 41 91 0A 06 3F 00 00 00 00 00 00 00 00 00 CC CC 4C 3ERequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1E U16, Length
//52 U8, Register
//00 00 F0 41 FP32, Cartesian linear velocity: Vx = 30 mm/s
//00 00 00 00 FP32, Cartesian linear velocity: Vy = 0 mm/s
//00 00 A0 41 FP32, Cartesian linear velocity: Vz = 20 mm/s
//91 0A 06 3F FP32, Cartesian angular velocity: ωx = π/6 rad/s
//00 00 00 00 FP32, Cartesian angular velocity: ωy= 0 rad/s
//00 00 00 00 FP32, Cartesian angular velocity ωz = 0 rad/s
//00 U8, is tool coordinate or not: 0-base coordinate
//CC CC 4C 3E FP32, duration: 0.2s
// Response:
00 01 00 02 00 02 52 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//52 U8, Register
//00 U8, State
Relative motion
Register: 83 (0x53)
// Request:
00 01 00 02 00 1E 53 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 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 1E U16, Length
//53 U8, Register
//00 00 00 00 FP32, if TCP motion，parameter is X (mm). If joint motion，Parameter is J1 (rad)
//00 00 00 00 FP32, if TCP motion，parameter is y (mm). If joint motion，parameter is J2 (rad)
//00 00 00 00 FP32, If TCP motion，parameter is z (mm). If joint control，parameter is J3 (rad)
//00 00 00 00 FP32, If TCP motion，parameter is roll (rad). If joint motion，parameter is J4 (rad)
//00 00 00 00 FP32, If TCP motion，parameter is pitch (rad). If joint motion，parameter is J5 (rad)
//00 00 00 00 FP32, If TCP motion，parameter is yaw (rad). If joint motion，parameter is J6 (rad)
//00 00 00 00 FP32, If TCP motion，parameter is meaningless. If joint motion，parameter is J7 (rad)
//00 00 00 00 FP32, speed(mm/s, rad/s)
//00 00 00 00 FP32, acceleration(mm/s², rad/s²)
//00 00 00 00 FP32, move time（useless, just 0）
//00 00 00 00 FP32, radius(mm)
//00 U8, 0 is TCP motion, 1 is joint motion.
//00 U8, Only available in TCP motion. 0 is RPY, 1 is aixs angle.
// Response:
00 01 00 02 00 02 53 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//53 U8, Register
//00 U8, State
Get the attitude represented by the axis angle
Register:91 (0x5B)
warning
Get the current TCP pose, and use the axial angle to represent the pose of the robotic arm
// Request:
00 01 00 02 00 01 5BRequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//5B U8, Register
// Response:
00 01 00 02 00 1A 5B 00 00 00 96 43 00 00 00 00 00 00 16 43 DB 0F 49 40 00 00 00 00 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 1A U16, Length
//5B U8, Register
//00 U8, State
//00 00 96 43 FP32, X=300mm
//00 00 00 00 FP32, Y=0 mm
//00 00 16 43 FP32, Z=150mm
//DB 0F 49 40 FP32, Rx=π rad
//00 00 00 00 FP32, Ry=0 rad
//00 00 00 00 FP32, Rz=0 rad
Linear motion with axis angle
Register:92 (0x5C)
warning
When planning a linear motion, the target pose is expressed in terms of axis angle, which supports the absolute and relative target pose, as well as the motion options of the base coordinate system and tool coordinate system.
// Request:
00 01 00 02 00 0D 5C 00 00 96 43 00 00 00 00 00 00 16 43 DB 0F 49 40 00 00 00 00 00 00 00 00 00 00 48 43 00 00 FA 44 00 00 00 00 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0D U16, Length
//5C U8, Register
//00 00 96 43 FP32, X=300mm
//00 00 00 00 FP32, Y=0
//00 00 16 43 FP32, Z=150mm
//DB 0F 49 40 FP32, Rx=π rad
//00 00 00 00 FP32, Ry=0
//00 00 00 00 FP32, Rz=0
//00 00 48 43 FP32, motion speed=200 mm/s
//00 00 FA 44 FP32, acceleration=2000 mm/s²
//00 00 00 00 FP32, motion time, 0
//00 U8, motion reference, 0 is robot base (coordinate system), 1 is robot tool (coordinate system).
//00 U8, If the motion reference is the robot base, then 0 is absolute pose, 1 is relative pose.
// Response:
00 01 00 02 00 03 5C 00 01Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//5C U8, Register
//00 01 U16, State
Servo_Cartesian motion (axis angle)
Register:93 (0x5D)
warning
An interface for receiving high-frequency continuous Cartesian motion, and the posture is represented by the axis angle.
// Request:
00 01 00 02 00 26 5D 00 00 96 43 00 00 00 00 00 00 16 43 db 0f 49 40 00 00 00 00 00 00 00 00 00 00 48 43 00 00 FA 44 00 00 00 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 26 U16, Length
//5D U8, Register
//00 00 96 43 FP32, X=300 mm
//00 00 00 00 FP32, Y=0
//00 00 16 43 FP32, Z=150 mm
//db 0f 49 40 FP32, Rx=π rad
//00 00 00 00 FP32, Ry=0
//00 00 00 00 FP32, Rz=0
//00 00 48 43 FP32, motion speed=200 mm/s
//00 00 FA 44 FP32, acceleration=2000 mm/s²
//00 00 00 00 FP32, 0 i the robot base coordinate system, 1 is robot tool coordinate system.
//00 U8, If the motion reference is the robot base, then 0 is absolute pose, 1 is relative pose.
// Response:
00 01 00 02 00 02 5D 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//5D U8, Register
//00 U8, State