Public Port Section(0-10)
Register:1(0x01)
// Request:
00 01 00 02 00 01 01
// Response:
00 01 00 02 00 2A 01 00 36 2C 36 2C 58 49 31 32 30 32 2C 41 43 31 33 30 32 2C 76 31 2E 31 32 2E 31 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 2A U16, Length
//01 U8, Register
//00 U8, State
//36 2C 36 2C U8, Type, Axes, 6,6,
//58 49 31 32 30 32 2C U8, xArm Version XI1202,
//41 43 31 33 30 32 2C U8, Control Box Version AC1302,
//76 31 2E 31 32 2E 31 30 U8, Firmware Version v1.12.10
//00 00 00 00 00 00 00 00 00 00 00 00 00 00 U8, null
Register:2(0x02)
// Request:
00 01 00 02 00 01 02
// Response:
00 01 00 02 00 2A 02 00 58 49 31 32 30 32 30 34 32 30 31 42 30 32 00 41 43 31 33 30 32 30 32 42 30 32 4C 30 32 0A 00 00 00 00 00 00 00 00 00 00
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 2A U16, Length
//02 U8, Register
//00 U8, State
//58 49 31 32 30 32 30 34 32 30 31 42 30 32 00 U8, XI120204201B02
//41 43 31 33 30 32 30 32 42 30 32 4C 30 32 0A U8, AC130202B02L02
//00 00 00 00 00 00 00 00 00 00 U8, null
Register:4(0x04)
// Request:
00 01 00 02 00 01 04
// Response:
00 01 00 02 00 02 04 10
Register:5(0x05)
// Request:
00 01 00 02 00 01 05
// Response:
00 01 00 02 00 03 05 00 00
Register:6(0x06)
// Request:
00 01 00 02 00 02 06 06
// Response:
00 01 00 02 00 06 06 10 00 00 00 00
Register:10(0x0A)
// Request:
00 01 00 02 00 02 0A 01
// Response:
00 01 00 02 00 02 0A 10
Last modified 1mo ago