Set the jerk of the Cartesian space translation
Register:31 (0x1F)
Copy // Request:
00 01 00 02 00 05 1F 00 00 FA 44
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//1F U8, Register
//00 00 FA 44 FP32, TCP Jerk=2000 mm/s³
Copy // Response:
00 01 00 02 00 04 1F 00 00 01
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//1F U8, Register
//00 U8, State
//00 01 U16, The number of commands in the buffer
Set the maximum acceleration of the Cartesian space translation
Register:32 (0x20)
Copy // Request:
00 01 00 02 00 05 20 00 80 BB 45
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//20 U8, Register
//00 80 BB 45 FP32, Maximum acceleration=6000 mm/s²
Copy // Response:
00 01 00 02 00 04 20 00 00 01
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//20 U8, Register
//00 U8, State
//00 01 u16, The number of commands in the buffer
Set the joint space jerk
Register:33 (0x21)
Copy // Request:
00 01 00 02 00 05 21 00 40 1C 46
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//21 U8, Register
//00 40 1C 46 FP32, Jerk=10000 rad/s³
Copy // Response:
00 01 00 02 00 04 21 00 00 01
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//21 U8, Register
//00 U8, State
//00 01 u16, The number of commands in the buffer
Set joint space max acceleration
Register:34 (0x22)
Copy // Request:
00 01 00 02 00 05 22 00 00 C8 43
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//22 U8, Register
//00 00 C8 43 FP32, Jerk=10000 rad/s³
Copy // Response:
00 01 00 02 00 04 22 00 00 01
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//22 U8, Register
//00 U8, State
//00 01 u16, The number of commands in the buffer
Set TCP offset
Register:35 (0x23)
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.
Copy // Request:
00 01 00 02 00 19 23 00 00 C8 43 00 00 00 00 00 00 48 43 DB 0F 49 40 00 00 00 00 00 00 00 00
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 19 U16, Length
//23 U8, Register
//00 00 C8 43 FP32, x=400 mm
//00 00 00 00 FP32, y=0 mm
//00 00 48 43 FP32, z=200 mm
//DB 0F 49 40 FP32, roll=π
//00 00 00 00 FP32, pitch=0
//00 00 00 00 FP32, yaw=0
Copy // Response:
00 01 00 02 00 02 23 10
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//23 U8, Register
//10 U8, State
Set TCP payload
Register:36 (0x24)
Copy // Request:
00 01 00 02 00 11 24 00 00 80 3F 00 00 C8 43 00 00 00 00 00 00 48 43
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 11 U16, Length
//24 U8, Register
//00 00 80 3F FP32, Payload=1kg
//00 00 C8 43 FP32, Payload center of mass X=400mm
//00 00 00 00 FP32, Payload center of mass Y=0
//00 00 48 43 FP32, Payload center of mass Z=200mm
Copy // Response:
00 01 00 02 00 02 24 20
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//24 U8, Register
//20 U8, State
Set collision detection sensitivity (System reset)
Register:37(0x25)
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.
Copy // Request:
00 01 00 02 00 02 25 04
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//25 U8, Register
//04 U8, Detect sensitivity=4
Copy // Response:
00 01 00 02 00 02 25 10
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//25 U8, Register
//10 U8, State
Set teaching sensitivity for manual mode (System reset)
Register:38(0x26)
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.
Copy // Request:
00 01 00 02 00 02 26 04
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//26 U8, Register
//04 U8, Teach sensitivity=4
Copy // Response:
00 01 00 02 00 02 26 10
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//26 U8, Register
//10 U8, State
Delete the current system configuration parameters
Register:39 (0x27)
Copy // Request:
00 01 00 02 00 01 27
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//27 U8, Register
Copy // Response:
00 01 00 02 00 02 27 10
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//27 U8, Register
//10 U8, State
Save the current system configuration parameters
Register:40 (0x28)
Copy // Request:
00 01 00 02 00 01 28
Request Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//28 U8, Register
Copy // Response:
00 01 00 02 00 02 28 10
Response Description
Copy //00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//28 U8, Register
//10 U8, State