System State(11-20)

Enable/Disable servo (System reset)

Register:11(0x0B)

The above operations will terminate the ongoing movement of the robotic arm and clear the cache commands, which is the same as the STOP state.

// Request:
00 01 00 02 00 03 0B 08 01

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 03    U16, Length 
//0B       U8, Register
//08       U8, 
Joint Number(Select all joints)
1-7：Motor joint(1-7)
8：Select all joint

//01       U8,
Whether to enable the servo
1：Enable servo
0：Disable servo

// Response:
00 01 00 02 00 02 0B 10

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//0B      U8, Register
//10      U8, State

Motion state setting

Register:12(0x0C)

// Request:
00 01 00 02 00 02 0C 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//0C      U8, Register

//00      U8, 
Motion Sate
0: Enter the motion mode
3: Suspend the current motion(Do not clear controller cache)
4: Stop all current motion (restart the system,clear controller cache)

// Response:
00 01 00 02 00 02 0C 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//0C      U8, Register
//00      U8, State

Get the motion state

Register:13 (0x0D)

// Request:
00 01 00 02 00 01 0D

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//0D       U8, Register

// Response:
00 01 00 02 00 03 0D 00 02

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//0D       U8, Register

//02       U8,
Motion state：
1：In motion
2：Sleep
3：Suspend
4：Stop
5： System reset

Get the number of commands in the command buffer

Register:14 (0x0E)

// Request:
00 01 00 02 00 01 0E

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//0E       U8, Register

// Response:
00 01 00 02 00 04 0E 00 00 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 04    U16, Length 
//0E       U8, Register
//00       U8, State
//00 00    U16, The number of commands in the buffer

Get error and warning code

Register:15 (0x0F)

// Request:
00 01 00 02 00 01 0F

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//0F       U8, Register

// Response:
00 01 00 02 00 04 0F 00 00 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 04    U16, Length 
//0F       U8, Register
//00       U8, State
//00       U8, Error code
//00       U8, Warning code

Clear control box error (System reset)

Register:16 (0x10)

The above operations will terminate the ongoing movement of the robotic arm and clear the cache commands, which is the same as the STOP state.

// Request:
00 01 00 02 00 01 10

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//10       U8, Register

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

Response Description

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

Clear control box warning

Register:17 (0x11)

// Request:
00 01 00 02 00 01 11

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//11       U8, Register

// Response:
00 01 00 02 00 02 11 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//11       U8, Register
//00       U8, State

Setting the brake switches separately (System reset)

Register:18 (0x12)

// Request:
00 01 00 02 00 03 12 08 01

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 03    U16, Length 
//12       U8, Register
//08       U8,  1~6: Select motor joint separately  8: Select all joints
//01       U8,  0: Disable Joint   1: Unlock Joint

// Response:
00 01 00 02 00 02 12 10

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//12       U8, Register
//10       U8, State

Setting the system motion mode (System reset)

Register:19 (0x13)

This operation will terminate the ongoing movement of the robot and clear the cache commands, which is the same as the STOP state.

// Request:
00 01 00 02 00 03 13 00 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 03    U16, Length 
//13       U8, Register
//00       U8, Motion mode
0: Position control mode
1: Servo motion mode
2: Joint teaching mode (manual mode)
3: Cartesian teaching mode (not yet available)
4: Joint velocity control mode
5: Cartesian velocity control mode
6: Joint online trajectory planning mode
7: Cartesian online trajectory planning mode
//00       U8, Payload detection before enabling manual mode. 0 is ON, 1 is OFF.

// Response:
00 01 00 02 00 02 13 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//13       U8, Register
//00       U8, State