Other Robotic Arm Function(71-80)

Set coordinate system

Register: 73 (0x49)

The coordinate system parameter to be set is to describe the robot base in the coordinate system you define

// Request:
00 01 00 02 00 19 49 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 
//49       U8, Register
//00 00 C8 43	FP32, Cartesian offset X=400mm
//00 00 00 00	FP32, Cartesian offset Y=0
//00 00 48 43	FP32, Cartesian offset Z=200mm
//DB 0F 49 40	FP32, Cartesian offset Roll=πrad
//00 00 00 00	FP32, Cartesian offset Pitch=0
//00 00 00 00	FP32, Cartesian offset Yaw=0

// Response:
00 01 00 02 00 02 49 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//49       U8, Register
//00       U8, State

Calculate the attitude offset of two given points

Given two coordinate points of the robotic arm, the offset coordinate between them can be calculated.

Register: 76 (0x4C)

// Request:
00 01 00 02 00 33 4C 00 00 C8 43 00 00 00 00 00 00 48 43 DB 0F 49 40 00 00 00 00 00 00 00 00 00 00 C8 43 00 00 00 00 00 00 C8 42 DB 0F 49 40 00 00 00 00 00 00 00 00 00 00   

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 33    U16, Length 
//4C       U8, Register
//00 00 C8 43	FP32, X=400
//00 00 00 00	FP32, Y=0
//00 00 48 43	FP32, Z=200
//DB 0F 49 40	FP32, Roll=π
//00 00 00 00	FP32, Pitch=0
//00 00 00 00	FP32, Yaw=0
//00 00 C8 43	FP32, X=400
//00 00 00 00	FP32, Y=0
//00 00 C8 42	FP32, Z=100
//DB 0F 49 40	FP32, Roll=π
//00 00 00 00	FP32, Pitch=0
//00 00 00 00	FP32, Yaw=0
//00	FP32, 
Representation of input pose:
0 : RPY（Roll,Pitch,Yaw）
1 : axial angle（Rx,Ry,Rz）

//00	FP32, 
Representation of output pose:
0 : RPY（Roll,Pitch,Yaw）
1 : axial angle（Rx,Ry,Rz）

// Response:
00 01 00 02 00 1A 4C 00 00 00 00 00 00 00 00 00 00 00 C8 C2 00 00 80 99 00 00 00 80 00 00 00 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 1A    U16, Length 
//4C       U8, Register
//00       U8, State
//00 00 00 00	FP32, Cartesian offset X=0
//00 00 00 00	FP32, Cartesian offset Y=0
//00 00 C8 C2	FP32, Cartesian offset Z=-100mm
//00 00 80 99	FP32, Cartesian offset Roll=-0
//00 00 00 80	FP32, Cartesian offset Pitch=-0
//00 00 00 00	FP32, Cartesian offset Yaw=0

Self-collision detection switchSet geometric model for self-collision detection

Register: 77 (0x4D)

// Request:
00 01 00 02 00 02 4D 01  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//4D       U8, Register
//01       U8, 
0: turn off self-collision detection
1: turn on self-collision detection

// Response:
00 01 00 02 00 02 4D 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//4D       U8, Register
//00       U8, State

Set geometric model for self-collision detection

Register: 78 (0x4E)

// Request:
00 01 00 02 00 0E (2+x*4) 4E 00 00 A0 41 00 00 F0 41 00 00 48 42 16 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 0E    U16, Length((2+x*4)) 
//4E       U8, Register
//00 00 A0 41    
//00 00 F0 41
//00 00 48 42    3*FP32,
Parameter 1 (Geometric model is a cuboid)
x=20,y=30,z=50
Additional definition parameter area: x maximum is 6, the actual length depends on the number of parameters required by the tool type definition. 
If there is no parameter, there is no data here.

End tool type:
1) Custom detection model (additional parameters are required):
*Cylinder:
Additional definition parameters are: 
radius (mm), height (mm)
*Cuboid:
Additional definition parameters are: 
length[x(mm)] ,width[y(mm)], height[z(mm)] consistent with the direction of the default TCP coordinate system.

2) Supported detection models (no need to define additional parameters):
No end tool, xArm gripper, xArm vacuum gripper, xArm BIO gripper, Robotiq 2F-85 gripper, Robotiq 2F-140 gripper.

//16    U8, 
Parameter 2 
(end tool type number = 22)
End tool type number:
1)Custom detection models (additional parameters are required):
Cylinder: 21
Cuboid: 22
2) Supported detection models (no need to define additional parameters):
No end tools: 0
xArm gripper: 1
xArm vacuum gripper: 2
xArm BIO gripper: 3
Robotiq 2F-85 gripper: 4
Robotiq 2F-140 gripper: 5

// Response:
00 01 00 02 00 02 4E 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//4E       U8, Register
//00       U8, State

Simulation Robot

Register: 79 (0x4F)

// Request:
00 01 00 02 00 02 4F 01

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//4F       U8, Register
//01       U8,
0: Real robot
1: Simulation

// Response:
00 01 00 02 00 02 4F 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//4F       U8, Register
//00       U8, State

Global setting for Cartesian motion velocity continuous

Register: 80 (0x50)

// Request:
00 01 00 02 00 02 50 00  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//50       U8, Register
//00       U8, 
0 :speed discontinuity，default
1 :speed continuous

// Response:
00 01 00 02 00 02 50 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//50       U8, Register
//00       U8, State