Servo Module(101-115)
Get the state of the current robotic arm servo
Register:106 (0x6A)
// Request:
00 01 00 02 00 01 6ARequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//6A U8, Register
// Response:
00 01 00 02 00 13 6A 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 13 U16, Length
//6A U8, Register
//00 U8, State
//00 U8, Parameter 1, command execution status
** 0: Normal.
** 1: The server has error message.
** 3: Communication failure.
//00 U8, Parameter 2, Joint 1 servo state=Normal
//00 U8, Parameter 3, Joint 1 servo error code=Normal
//00 U8, Parameter 4, Joint 2 servo state=Normal
//00 U8, Parameter 5, Joint 2 servo error code=Normal
//00 U8, Parameter 6, Joint 3 servo state=Normal
//00 U8, Parameter 7, Joint 3 servo error code=Normal
//00 U8, Parameter 8, Joint 4 servo state=Normal
//00 U8, Parameter 9, Joint 4 servo error code=Normal
//00 U8, Parameter 10, Joint 5 servo state=Normal
//00 U8, Parameter 11, Joint 5 servo error code=Normal
//00 U8, Parameter 12, Joint 6 servo state=Normal
//00 U8, Parameter 13, Joint 6 servo error code=Normal
//00 U8, Parameter 14, Joint 7 servo state=Normal
//00 U8, Parameter 15, Joint 7 servo error code=Normal
//00 U8, Parameter 16, Gripper servo state=Normal
//00 U8, Parameter 17, Gripper servo error code=Normal
Start the joint friction identification process
Register:115 (0x73)
// Request:
00 01 00 02 00 0F 73 58 49 31 32 30 33 30 37 32 30 31 4C 31 42Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0F U16, Length
//73 U8, Register
//58 49 31 32 30 33 30 37 32 30 31 4C 31 42 U8, XI120307201L1B, Robot SN ASCII code,
// Response:
00 01 00 02 00 07 73 00 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 07 U16, Length
//73 U8, Register
//00 U8, State
//00 00 00 00 FP32, Identification status 0.0: success. -1.0：failed.