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Motion Parameter Setting(31-40)

Set the jerk of the Cartesian space translation

Register:31 (0x1F)

// Request:
00 01 00 02 00 05 1F 00 00 FA 44
Request Description
//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
// Response:
00 01 00 02 00 04 1F 00 00 01
Response Description
//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)

// Request:
00 01 00 02 00 05 20 00 80 BB 45
Request Description
//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
// Response:
00 01 00 02 00 04 20 00 00 01
Response Description
//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)

// Request:
00 01 00 02 00 05 21 00 40 1C 46
Request Description
//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
// Response:
00 01 00 02 00 04 21 00 00 01
Response Description
//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)

// Request:
00 01 00 02 00 05 22 00 00 C8 43
Request Description
//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
// Response:
00 01 00 02 00 04 22 00 00 01
Response Description
//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.

// 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
//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
// Response:
00 01 00 02 00 02 23 10
Response Description
//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)

// 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
//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
// Response:
00 01 00 02 00 02 24 20
Response Description
//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.

// Request:
00 01 00 02 00 02 25 04
Request Description
//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//25       U8, Register
//04       U8, Detect sensitivity=4
// Response:
00 01 00 02 00 02 25 10
Response Description
//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.

// Request:
00 01 00 02 00 02 26 04
Request Description
//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//26       U8, Register
//04       U8, Teach sensitivity=4
// Response:
00 01 00 02 00 02 26 10
Response Description
//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)

// Request:
00 01 00 02 00 01 27
Request Description
//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//27       U8, Register
// Response:
00 01 00 02 00 02 27 10
Response Description
//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)

// Request:
00 01 00 02 00 01 28
Request Description
//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//28       U8, Register
// Response:
00 01 00 02 00 02 28 10
Response Description
//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//28       U8, Register
//10       U8, State
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