Other Robotic Arm Function(51-70)

Set the gravity direction

Register:51 (0x33)

Set the gravity direction for correct torque compensation and collision detection. After modification, it shall call the save_conf () function or refer to Register: 40(28) to save the setting, otherwise it will be invalid after reboot.

// Request:
00 01 00 02 00 0D 33 00 00 00 00 00 00 00 00 00 00 80 BF 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 0D    U16, Length 
//33       U8, Register
//00 00 00 00	FP32, Gravity direction vector X=0 base coordinate system
//00 00 00 00	FP32, Gravity direction vector Y=0 base coordinate system
//00 00 80 BF	FP32, Gravity direction vector Z=-1 base coordinate system

// Response:
00 01 00 02 00 02 33 10

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//33       U8, Register
//10       U8, State

Set the safe boundary

Register:52 (0x34)

C35 Set the boundary range of the safety fence in the three-dimensional space. If TCP of the robotic arm exceeds this boundary, error C35 of the Control Box will be triggered.

// Request:
00 01 00 02 00 19 34 58 02 00 00 C8 00 00 00 F4 01 00 00 64 00 00 00 58 02 00 00 C8 00 00 00 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 19    U16, Length 
//34       U8, Register
//58,02,00,00	FP32, Cartesian boundary value x+ =600 mm
//C8,00,00,00	FP32, Cartesian boundary value x- =200 mm
//F4,01,00,00	FP32, Cartesian boundary value y+ =500 mm
//64,00,00,00	FP32, Cartesian boundary value y- =100 mm
//58,02,00,00	FP32, Cartesian boundary value z+ =600 mm
//C8,00,00,00	FP32, Cartesian boundary value z- =200 mm

// Response:
00 01 00 02 00 02 34 10

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//34       U8, Register
//10       U8, State

Get all configurations of the Reduced Mode

Register:53 (0x35)

// Request:
00 01 00 02 00 01 35  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//35       U8, Register

// Response:
00 01 00 02 00 51 35 00 01 01 2C 00 64 01 2C FF F6 01 2C 00 32 00 00 C8 42 DB 0F 49 40 DB 0F C9 C0 DB 0F C9 40 15 C6 03 C0 91 0A 06 40 CE 53 7B C0 68 96 44 3E DB 0F C9 C0 DB 0F C9 40 35 B3 D8 BF DB 0F 49 40 DB 0F C9 C0 DB 0F C9 40 00 00 00 00 00 00 00 00 01 01

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 51    U16, Length 
//35       U8, Register
//10       U8, State
//10       U8, State
//00	   U16,	The state of Reduce mode: 0-OFF; 1-ON
//01 2C 00 64  01 2C FF F6 01 2C 00 32
int16*6, safety boundary
[x_max=300, x_min=100, y_max=300, y_min=-10, z_max=300, z_min=50]

//00 00 C8 42 FP32, Max TCP speed=100mm/s
//DB 0F 49 40 FP32, max Joint speed=180 °/s

//DB 0F C9 C0 DB 0F C9 40 15 C6 03 C0 91 0A 06 40 CE 53 7B C0 68 96 44 3E DB 0F C9 C0 DB 0F C9 40 35 B3 D8 BF DB 0F 49 40 DB 0F C9 C0 DB 0F C9 40 00 00 00 00 00 00 00 00 	
FP32*7, Joint range: [J1_min, J1_max, …, J7_min, J7_max]

//01  U8, The state of Safety Boundary: 0- OFF; 1-ON
//01  U8, The state of Collision Rebound: 0- OFF; 1-ON 

Get the current of each joint

Register:55 (0x37)

Estimate the joint torque based on current and theoretical model, which is for reference only

// Request:
00 01 00 02 00 01 37  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//37       U8, Register

// Response:
00 01 00 02 00 1E 37 00 17 37 00 00 00 00 00 2A C5 5B C1 79 A4 C5 C0 00 00 00 00 87 A3 E9 BF 00 00 00 00 00 00 00 00 

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 1E    U16, Length 
//37       U8, Register
//00       U8, State
//00 00 00 00	FP32, Theoretical torque of joint1 = 0
//2A C5 5B C1   FP32, Theoretical torque of joint2 = -13.7 N.m
//79 A4 C5 C0	FP32, Theoretical torque of joint3 = -6.17 N.m
//00 00 00 00   FP32, Theoretical torque of joint4 = 0
//87 A3 E9 BF	FP32, Theoretical torque of joint5 = -1.83N.m
//00 00 00 00	FP32, Theoretical torque of joint6 = 0
//00 00 00 00	FP32, Theoretical torque of joint7 = 0

Set Joint Range Limit of Reduced Mode

Register:58 (0x3A)

// Request:
00 01 00 02 00 39 3A C2 F5 48 C0 C2 F5 48 40 33 33 03 C0 8F C2 05 40	C2 F5 48 C0 C2 F5 48 40 5C 8F 42 BE 47 E1 7A 40 C2 F5 48 C0 C2 F5 48 40 EB 51 D8 BF C8 00 00 00 C2 F5 48 C0 C2 F5 48 40

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 39    U16, Length 
//3A       U8, Register
//C2 F5 48 C0 C2 F5 48 40	FP32, J1_min = -3.14rad,J1_max = 3.14rad
//33 33 03 C0 8F C2 05 40	FP32, J2_min = -2.05rad,J2_max = 20.9rad
//C2 F5 48 C0 C2 F5 48 40	FP32, J3_min = -3.14rad,J3_max = 3.14rad
//5C 8F 42 BE 47 E1 7A 40	FP32, J4_min = -0.19rad,J4_max = 3.92rad
//C2 F5 48 C0 C2 F5 48 40	FP32, J5_min = -3.14rad,J5_max = 3.14rad
//EB 51 D8 BF C8 00 00 00	FP32, J6_min = -1.69rad,J6_max = 3.14rad
//C2 F5 48 C0 C2 F5 48 40	FP32, J7_min = -3.14rad,J7_max = 3.14rad

// Response:
00 01 00 02 00 02 3A 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3A       U8, Register
//00       U8, State

Safety boundary switch

Register: 59 (0x3B)

Set the safety boundary in three-dimensional space. If the TCP of the robot exceeds this boundary, error C35 will be triggered.

// Request:
00 01 00 02 00 02 3B 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3B       U8, Register
//00       U8, 0: Disable safety boundary. 1: Enable safety boundary.

// Response:
00 01 00 02 00 02 3B 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3B       U8, Register
//00       U8, State

Set the state of Collision Rebound

Register:60 (0x3C)

// Request:
00 01 00 02 00 02 3C 00  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3C       U8, Register
//00       U8, Collision Rebound switch  0-OFF; 1-ON

// Response:
00 01 00 02 00 02 3C 10

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3C       U8, Register
//00       U8, State

Start/Stop trajectory record

Register:61 (0x3D)

// Request:
00 01 00 02 00 02 3D 00  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3D       U8, Register
//00       U8, 0-Stop trajectory record, 1-start trajectory record

// Response:
00 01 00 02 00 02 3D 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3D       U8, Register
//00       U8, State

Save recorded trajectory

Register:62 (0x3E)

// Request:
00 01 00 02 00 0A 3E 74 65 73 74 2E 74 72 61 6A 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 0A    U16, Length 
//3E       U8, Register
//74 65 73 74 2E 74 72 61 6A  U8,Trajectory name (max length:80 Bytes)
e. g. test.traj

// Response:
00 01 00 02 00 02 3E 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3E       U8, Register
//00       U8, State

Load recorded trajectory

Register:63 (0x3F)

// Request:
00 01 00 02 00 0A 3F 74 65 73 74 2E 74 72 61 6A 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 0A    U16, Length 
//3F       U8, Register
//74 65 73 74 2E 74 72 61 6A  U8,Trajectory name (max length:80 Bytes)
e. g. test.traj

// Response:
00 01 00 02 00 02 3F 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//3F       U8, Register
//00       U8, State

Playback recorded trajectory

Register:64 (0x40)

// Request:
00 01 00 02 00 09 40 00 00 00 01 00 00 00 01  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 09    U16, Length 
//40       U8, Register
//00 00 00 01    FP32, Cycles of playback
//00 00 00 01    FP32, playback speed
1: 1x speed
2: 2x speed
4: 4x speed

// Response:
00 01 00 02 00 02 40 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//40       U8, Register
//00       U8, State

Get the state of recorded trajectory

Register:65 (0x41)

// Request:
00 01 00 02 00 01 41  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//41       U8, Register

// Response:
00 01 00 02 00 03 41 00 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 03    U16, Length 
//41       U8, Register
//00       U8, State
//00       U8, 
0: no read/write
1: loading
2: load success
3: load failed
4: saving
5: save success
6: save failed

Set allow to avoid over speed near some singularities using approximate solutions

Register: 66 (0x42)

// Request:
00 01 00 02 00 02 42 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//42       U8, Register
//00       U8, 0 :Not allow  ,1 :allow

// Response:
00 01 00 02 00 02 42 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//42       U8, Register
//00       U8, State

Get D-H parameters

Register: 67 (0x43)

// Request:
00 01 00 02 00 01 43

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//43       U8, Register

// Response:
00 01 00 02 00 72 43 00 00 00 00 00 00 80 85 43 00 00 00 00 00 00 00 00 FD 44 B1 BF 00 00 00 00 DB 0F C9 BF 00 00 00 00 FD 44 B1 3F 00 00 00 00 00 00 00 00 49 BE 90 43 00 00 00 00 00 40 AB 43 DB 0F C9 BF 00 00 9B 42 00 00 00 00 00 00 00 00 DB 0F C9 3F 00 00 00 00 00 00 00 00 00 00 C2 42 DB 0F C9 BF 00 00 98 42 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 72    U16, Length 
//43       U8, Register
//00       U8, State

Note:
4 float parameters per joint
A total of 112 bytes, 28 floating-point data, 
only the first 24 floating-point data of the xArm6 are valid data


T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°)
T3_offset = atan(284.5/53.5)+atan(0.3425/0.0775) = 2.7331843 (156.599924°)
a2 = sqrt(284.5^2+53.5^2) = 289.48866
T4_offset = -atan(342.5/77.5) = -1.3482664 (-77.249974°)
a3 = sqrt(77.5^2+342.5^2) = 351.158796

For example: xArm6  SN:XI120204201B02

//J1     d(mm):267  alpha(rad):0 a(mm):0 offset(rad):0
00 00 00 00 
00 80 85 43 
00 00 00 00 
00 00 00 00 
//J2     d(mm):0  alpha(rad):-pi/2  a(mm):0  offset(rad):T2_offset
FD 44 B1 BF 
00 00 00 00 
DB 0F C9 BF 
00 00 00 00 
//J3     d(mm):0  alpha(rad):0  a(mm):a2  offset(rad):T3_offset
FD 44 B1 3F 
00 00 00 00 
00 00 00 00 
49 BE 90 43 
//J4     d(mm):342.5  alpha(rad):-pi/2  a(mm):77.5  offset(rad):0
00 00 00 00 
00 40 AB 43 
DB 0F C9 BF 
00 00 9B 42 
//J5     d(mm):0  alpha(rad):pi/2  a(mm):0  offset(rad):0
00 00 00 00 
00 00 00 00 
DB 0F C9 BF 
00 00 00 00 
//J6     d(mm):97  alpha(rad):-pi/2  a(mm):76  offset(rad):0
00 00 00 00 
00 00 C2 42 
DB 0F C9 BF 
00 00 98 42 
//J7      Null
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00

Set D-H parameters

Register: 68 (0x44)

// Request:
00 01 00 02 00 73 44 00 00 00 00 00 00 80 85 43 00 00 00 00 00 00 00 00 FD 44 B1 BF 00 00 00 00 DB 0F C9 BF 00 00 00 00 FD 44 B1 3F 00 00 00 00 00 00 00 00 49 BE 90 43 00 00 00 00 00 40 AB 43 DB 0F C9 BF 00 00 9B 42 00 00 00 00 00 00 00 00 DB 0F C9 3F 00 00 00 00 00 00 00 00 00 00 C2 42 DB 0F C9 BF 00 00 98 42 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 73    U16, Length 
//44       U8, Register

Note:
4 float parameters per joint
A total of 112 bytes, 28 floating-point data, 
only the first 24 floating-point data of the xArm6 are valid data


T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°)
T3_offset = atan(284.5/53.5)+atan(0.3425/0.0775) = 2.7331843 (156.599924°)
a2 = sqrt(284.5^2+53.5^2) = 289.48866
T4_offset = -atan(342.5/77.5) = -1.3482664 (-77.249974°)
a3 = sqrt(77.5^2+342.5^2) = 351.158796

For example: xArm6  SN:XI120204201B02

//J1     d(mm):267  alpha(rad):0 a(mm):0 offset(rad):0
00 00 00 00 
00 80 85 43 
00 00 00 00 
00 00 00 00 
//J2     d(mm):0  alpha(rad):-pi/2  a(mm):0  offset(rad):T2_offset
FD 44 B1 BF 
00 00 00 00 
DB 0F C9 BF 
00 00 00 00 
//J3     d(mm):0  alpha(rad):0  a(mm):a2  offset(rad):T3_offset
FD 44 B1 3F 
00 00 00 00 
00 00 00 00 
49 BE 90 43 
//J4     d(mm):342.5  alpha(rad):-pi/2  a(mm):77.5  offset(rad):0
00 00 00 00 
00 40 AB 43 
DB 0F C9 BF 
00 00 9B 42 
//J5     d(mm):0  alpha(rad):pi/2  a(mm):0  offset(rad):0
00 00 00 00 
00 00 00 00 
DB 0F C9 BF 
00 00 00 00 
//J6     d(mm):97  alpha(rad):-pi/2  a(mm):76  offset(rad):0
00 00 00 00 
00 00 C2 42 
DB 0F C9 BF 
00 00 98 42 
//J7      Null
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00

//00     U8,Set flag
0: use the set DH parameters, but do not save to the configuration file
1: Use the set DH parameters and save them to the configuration file
2: Use the set DH parameters and delete the configuration file
3: Use the default DH parameters, but do not delete the configuration file
4: Use the default DH parameters and delete the configuration file

// Response:
00 01 00 02 00 02 44 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//44       U8, Register
//00       U8, State

Get the currently executing command

It needs to be parsed according to different registers

Register: 69 (0x45)

// Request:
00 01 00 02 00 01 45

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//45       U8, Register

// Response:
00 01 00 02 00 2B 45 00 17 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 C2 B8 B2 3E 58 A0 0B 41 00 00 00 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 2B    U16, Length 
//45       U8, Register
//00       U8, State
//17       U8, 
Current execution motion instruction register:
0x15: Cartesian linear motion
0x16: Linear motion with arc blending
0x17: P2P joint movement
0x18: joint blending movement
0x19: Back to zero movement
0x1B: arc movement
0x1C: Linear motion in tool coordinate system
0x5C: linear motion of axis angle attitude target

//00 00 00 00	FP32, Joint1=0 
//00 00 00 00	FP32, Joint2=0
//00 00 00 00	FP32, Joint3=0
//00 00 00 00	FP32, Joint4=0
//00 00 00 00	FP32, Joint5=0
//00 00 00 00	FP32, Joint6=0
//00 00 00 00	FP32, Joint7=0
//C2 B8 B2 3E	FP32, speed=20π/180 rad/s
//58 A0 0B 41	FP32, 500π/180 rad/s²
//00 00 00 00	FP32, motion time=0

Select current data or torque data to report

Correspond to the report contents "60~87 Bytes" of TCP ports 30001/30002/30003

Register: 70 (0x46)

// Request:
00 01 00 02 00 02 46 00  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//46       U8, Register
//00       U8, 
value of theoretical joint torque)
0: value of theoretical joint torque, unit : Nm
1: value of actual current of servo, unit : A

// Response:
00 01 00 02 00 02 46 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//46       U8, Register
//00       U8, State