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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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Basic Motion(21-30)
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Get Motion Information(41-50)
Last modified 1mo ago