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

Other Robotic Arm Function(51-70)

Other Robotic Arm Function(81-100)

Last modified 1mo ago