RS485 Control on the End-effector(127-128)
Set the robot RS485 baud rate
Register: 127 (0x7F)
//Request
00 01 00 02 00 08 7F 09 1A 0B 00 00 30 41Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 08 U16, Length
//7F U8, Register
//09 U8, Host ID
//1A 0B U16,Address
//00 00 30 41 FP32, Parameter 1, by default is 11(2000000 bps).
0: 4800 bps；
1: 9600 bps；
2: 19200 bps；
3: 38400 bps；
4: 57600 bps；
5: 115200 bps
6: 230400 bps；
7: 460800 bps；
8: 921600 bps；
9: 1000000 bps；
10: 1500000 bps；
11: 2000000 bps；
12: 2500000 bps；
// Response:
00 01 00 02 00 01 7FResponse Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//7F U8, Register
Set tool digital output
Register:127 (0x7F)
//Request
00 01 00 02 00 08 7F 09 1A 15 00 00 80 43Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 08 U16, Length
//7F U8, Register
//09 U8, Host ID
//1A 15 U16, Register start address
//00 00 80 43 FP32, Parameter 1, 256 in decimal, set tool digital output 0 low
Data:
256: Set tool digital output 0 to low
257: Set tool digital output 0 to high
512: Set tool digital output 1 to low
514: Set tool digital output 0 to high
// Response:
00 01 00 02 00 01 7F 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//7F U8, Register
//00 U8, State
Get the status of the tool digital input
Register:128 (0x80)
//Request
00 01 00 02 00 04 80 09 0A 14Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//80 U8, Register
//09 U8, Host ID
//0A 14 U16, Register start address
// Response:
00 01 00 02 00 06 80 00 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 06 U16, Length
//80 U8, Register
//00 U8, State
//00 00 00 00 U8,
The end byte indicates the input status. The digit of 0 corresponds to input 0 and the digit of 1 corresponds to input 1.
Get the value of the tool analog input
Register:128 (0x80)
//Request
00 01 00 02 00 04 80 09 0A 16Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//80 U8, Register
//09 U8, Host ID
//0A 16 U16, Address
Address 0A 16 ： Analog input 0
Address 0A 17 ： Analog input 1
// Response:
00 01 00 02 00 06 80 00 00 07 0DResponse Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 06 U16, Length
//80 U8, Register
//00 U8, State
//00 00 07 0D U8, analog input, range 0~4095, corresponding to 0~3.3V