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 02 13 00 00
Request Description
//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    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 turn on 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

Public Port Section（0-10）

Basic Motion(21-30)

Last modified 1mo ago