Development and Use Based on Communication Protocol Packet

Communication Settings

• Bus Interface: Built-in ESP32 (Separate left and right arm serial ports)

• Baud Rate: 115200

• Data Bits: 8

• Parity: None

• Stop Bits: 1

Left arm motion and velocity parameter table

Right Arm Motion and Velocity Parameter Table

Introduction to Serial Port Commands

Transmit/Receive Format

Both sending and receiving are represented in hexadecimal. Each command contains 5 parts, as shown below:

[Frame Header] [Frame Header] [Length] [Function Code] [Data] [Checksum - High Byte] [Checksum - Low Byte]

1. Frame Header (2 bytes): 0xFE 0XFE

2. Valid Length (1 byte): 3-N, length starts from the function code and ends with the checksum.

3. Function Code (1 byte): 1-255

4. Data Bits: 0-N, high byte first.

5. Frame Trailer: CRC16 checksum, high byte first.

6. All commands have a first-level receive feedback; position mode control has position feedback.

Basic Control

1. Read Master Control Version Number

   Instruction Length: 3

   Function Code: 02

   Send Data Bits: None

   Feedback Data Bits: Version Number - 1 byte, requires /10.0

   Send Instruction: FE FE 03 02 0D D1

   Feedback Instruction Example: FE FE 04 02 0A 51 7D, where the version number is V1.0

2. Read Robot Model

   Instruction Length: 3

   Function Code: 03

   Send Data Bits: None

   Feedback Data Bits: Model - 2 bytes

   Send Command: FE FE 03 03 CD 10

3. Read End-of-Line Version Number

   Instruction Length: 3

   Function Code: 06

   Send Data Bits: None

   Feedback Data Bits: Byte 1: Version Number

4. Read End-of-Line Version Number

   Instruction Length: 3

   Function Code: 09

   Send Data Bits: None

   Feedback Data Bits: Byte 1: Version Number, requires /10.0

5. Set Limit Switch

   Instruction Length: 5

   Function Code: 0E

   Send Data Bits: Byte 1: 1/2 1 - Position out of tolerance, 2 - Position feedback; Byte 2: 0/1 0 - Off, 1 - On, default on, saved without power loss
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

6. Read limit switch
   

   Instruction length: 3
   

   Function code: 0F
   

   Send data bits: None
   

   Feedback data bits: Byte 1: Position out of tolerance switch status, 0/1 1 - On; Byte 2: Position feedback switch status, 0/1 1 - On, default on
   

7. Start robot
   

   Instruction length: 3
   

   Function code: 0x10
   

   Send data bits: None
   

   Feedback data bits: Byte 1: Startup status, 0-2; 0 - Startup failed 1 - Startup successful 2 - Emergency stop triggered
   

8. Shut down robot
   

   Instruction length: 3
   Function Code: 0x11

   Send Data Bits: None

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

   Feedback Command: FE FE 05 11 FF 01 E8 EC

9. Read Robot Startup Status

   Command Length: 3

   Function Code: 0x12

   Send Data Bits: None

   Feedback Data Bits: Byte 1: Startup Status, 0-2; 0-Startup Failure 1-Startup Success 2-Emergency Stop Triggered

10. Read Zero-Position Calibration Status

    Command Length: 3

    Function Code: 0x5A

    Send Data Bits: None

    Feedback Data Bits: Byte 1: 0/1; Overall Zero-Position Calibration Status, 1-Set; Bytes 2-9: 1X7 Joint Zero-Position Calibration Status

11. The robot is powered on but cannot be controlled.

    Instruction length: 3

    Function code: 0x1D

    Send data bits: None

    Feedback data bits: Bytes 1-2: 0xFF 0x01

12. Set Position Detection Error Angle
    

    The misalignment of joints 11 and 12 varies depending on the machine. The default error is 2°. If the joint fails to reach the correct position, first read the error value, then set the angle based on the actual error. The maximum error is 5°.
    

    Command Length: 6
    

    Function Code: 0x0B
    

    Send Data Bits: Byte 1: Joint Range: J11-J12; Bytes 2-3: Angle, range 0-5, needs to be *100 (range 0-500, supports decimal places)
    

    Feedback Data Bits: Byte 1: 0xFF, Byte 2: 0/1 0 - Incorrect parameter value
    

13. Read Position Detection Error Angle
    

    Command Length: 4
    

    Function Code: 0x0C
    

    Send Data Bits: Byte 1: Joint Range: J11-J12
    

    Feedback Data Bits: Bytes 1-2: Error angle, needs to be /100
    

14. Clear point buffer
    Clear the motion point buffers of the other 3 joints outside the arm (joints J11-J13). The robot will stop moving during the clearing process.
    

    Command length: 3
    

    Function code: 0x0D
    

    Send data bits: None
    

    Feedback data bits: Bytes 1-2: 0xFF 0x01
    

Motion Control

• Motion control speed range: 1-100, actual speed percentage can be found in the above table of robotic arm motion and speed parameters.

• Motion modes: Position interpolation, torque; only position interpolation provides motion positioning feedback.

• Position positioning feedback data: FE FE 04 5B Status CRC-High CRC-Low; Normal motion command: FE FE 04 5B 00 CD 46; Abnormal motion command - J6 Overlimit: FE FE 04 5B 06 CF C6

1. Full joint angle control

   Command length: 0x12

   Function code: 0x22

   Send data bits: Bytes 1-14: 2X7 joint angle (angle * 100.0) Byte 15: Speed 1-100

   [90, 10, -90, 45, 80, -100, 10], running speed 50%, sent command: FE FE 10 22 23 28 03 E8 DC D8 11 94 1F 40 27 10 03 E8 32 A3 E1
   

   First layer feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

   Second layer position feedback: only available in interpolation motion mode, FE FE 04 5B 00 CD 46
   

2. Single joint angle control
   

   Command length: 7
   

   Function code: 0x21
   

   Sent data bits: Byte 1: Joint1-7, 11-13; Bytes 2-3: Angle (angle * 100.0); Byte 4: Speed
   J1 moves to 50°, running speed 10%, sent command: FE FE 07 21 01 13 88 0A 82 7A`
   

   First-level feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

3. Read all joint angles
   

   Instruction length: 3
   

   Function code: 0x20
   

   Send data bits: None
   

   Feedback data bits: Bytes 1-14: 2X7 joint angles (angle/100.0)
   

   [90, 10, -90, 45, 80, -100, 10] Feedback instruction: FE FE 10 20 23 28 03 E8 DC D8 11 94 1F 40 27 10 03 E8 21 35
   

4. Full Coordinate Control
   

   Instruction Length: 0x10
   

   Function Code: 0x25
   

   Send Data Bits: Bytes 1-12: 2x6 coordinates (XYZ10.0, RXRYRZ100.0) Byte 13: Speed
   

   First-Level Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
   

5. Single Coordinate Control
   

   Instruction Length: 7
   

   Function Code: 0x24
   

   Send Data Bits: Byte 1: Coordinate Axis; Bytes 2-3: Coordinates (XYZ10.0, RXRYRZ100.0) Byte 4: Speed
   

   First-Level Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
   

6. Read Full Coordinates
   

   Instruction Length: 3
   

   Function Code: 0x23
   Send data bits: None
   

   Feedback data bits: Bytes 1-12: 2x6 coordinates (XYZ/10.0, RXRYRZ/100.0)
   

7. Read robot motion status
   

   Instruction length: 3
   

   Function code: 0x2B
   

   Send data bits: None
   

   Feedback data bits: Byte 1: Motion status 0/1, 0 - not moving; 1 - moving
   

8. Detect whether the robot has reached the point
   

   Instruction length: Angle: 18, Coordinates: 16
   

   Function code: 0x2A, Error accuracy: Angle within 1°, Coordinates within 2mm
   

   Send data bits:

   • Bytes 1-12: 2x6 coordinates (Angle 100.0, Coordinates XYZ 10.0, RXRYRZ * 100.0); Byte 13: Mode 1/2 - Coordinates;
     

   • Bytes 1-14: 2*7 joint angles; Byte 15: Mode 0 - Angle
     

     Feedback Data Bits: Byte 1: Position Status 0/1 0 - Not in position, 1 - In position
     

9. Movement Pause
   

   Command Length: 3
   

   Function Code: 0x26
   

   Send Data Bits: None
   

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
   

10. Movement Resumption
    

    Command Length: 3
    

    Function Code: 0x28
    

    Send Data Bits: None
    

    Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
    

11. Movement End
    

    Command Length: 3
    

    Function Code: 0x29
    

    Send Data Bits: None
    

    Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

12. Detect if movement is paused

    Command length: 3

    Function code: 0x27

    Send data bits: None

    Feedback data bits: Byte 1: Pause status 0/1, 0 - not manually paused; 1 - paused

13. Continuous joint movement

    Command length: 6

    Function code: 0x30

    Send data bits: Byte 1: Joints 1-7; Byte 2: Direction 0/1 0 - Reverse rotation 1 - Forward rotation Byte 3: Speed

    First-level feedback fixed data bits: Bytes 1-2: 0xFF 0x01

14. Continuous Coordinate Movement
    

    Command Length: 6
    

    Function Code: 0x32
    

    Send Data Bits: Byte 1: Coordinate axes 1-6; Byte 2: Direction 0/1 0-Reverse Rotation 1-Forward Rotation Byte 3: Velocity
    

    First-Level Feedback Fixed Data Bits: Byte 1-2: 0xFF 0x01
    

15. Base Coordinate Step Control
    

    Command Length: 7
    

    Function Code: 0x37
    

    Send Data Bits: Byte 1: Axis 1-6; Bytes 2-3: Step Value (XYZ10.0, RXRYRZ100.0); Byte 4: Speed
    

    First-Level Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
    

16. Joint Stepping Control
    Command Length: 7

    Function Code: 0x33

    Send Data Bits: Byte 1: Joints 1-7; Bytes 2-3: Step value * 100.0; Byte 3: Speed

    First-Level Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

17. Coordinate Stepping Control

    Command Length: 7

    Function Code: 0x34

    Send Data Bits: Byte 1: Axis 1-6; Bytes 2-3: Step value (XYZ 10.0, RXRYRZ 100.0); Byte 4: Speed

    First-Level Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

18. Coordinate JOG Track Fusion (with 6D mouse)

    Command Length: 10

    Function Code: 0xEC Data transmission bits: Byte 1: Coordinate axes 1-6; Bytes 2-3: Step value (XYZ10.0, RXRYRZ100.0); Byte 4: Velocity
    

    First layer feedback fixed data bits: Bytes 1-2: 0xFF 0x01
    

19. Calculate Inverse Kinematics
    

    • Used to calculate the inverse kinematics of the robotic arm. Inputs: coords (target coordinates), angles (current joint angles). Output: solve_angles (angles corresponding to the target coordinates).

    Instruction Length: 0x1D

    Function Code: 0x8D

    Send Data Bits: Bytes 1-12: 2x6 target coordinates; Bytes 13-26: 2x7 current joint angle

    Feedback Data Bits: Bytes 1-28: 4x7 joint angle (/100.0)

20. Start Drag Teaching
    

    Instruction Length: 3

    Function Code: 0x70

    Send Data Bits: None

    Feedback Data Bits: 0xFF 0x01

21. Pause Sampling

    Instruction Length: 3

    Function Code: 0x72

    Send Data Bits: None

    Feedback Data Bits: 0xFF 0x01

22. Execute Teaching Point

    Instruction Length: 3

    Function Code: 0x71 Send data bits: None
    Feedback data bits: 0xFF 0x01
    

23. Clear sampling points
    Instruction length: 3
    Function code: 0x73
    Send data bits: None
    Feedback data bits: 0xFF 0x01
    

24. Query collision detection mode
    Instruction length: 3
    Function code: 0xFD
    Send data bits: None
    Feedback data bits: Byte 1: 0/1, 1-open 0-close
    

25. Set Collision Detection Mode
    

    Command Length: 4
    

    Function Code: 0x74
    

    Send Data Bits: 1-open 0-close

    After enabling collision detection, the robotic arm will automatically stop if a collision lasting longer than 200ms and exceeding the collision threshold occurs during movement.
    

    Feedback Data Bits: 0xFF 0x01
    

26. Set Collision Threshold
    

    Command Length: 5
    

    Function Code: 0x75
    

    Send Data Bits:
    

    • Byte 1: joint range:(1-7)

    • Byte 2: radio range:(50-250)%
      

    You can set the collision threshold for the joints. The default value is 100%. The smaller the value, the easier it is to trigger a collision.
    

    Feedback Data Bits: 0xFF 0x01
    

27. Get Collision Threshold
    

    Command Length: 3
    Function Code: 0x76

    Send Data Bits: None

    Feedback Data Bits:

    • Bytes 1-7: All-Joint Collision Threshold

28. Set Torque Compensation Coefficient
    

    Command Length: 5

    Function Code: 0x77

    Send Data Bits:

    • Byte 1: Joint Range: (1-7)

    • Byte 2: Radio Range: (0-250)% Friction compensation coefficient for the torque ring, default is [0, 0, 0, 0, 10, 30, 30]. The larger the coefficient, the easier it is to drag.

    Feedback Data Bits: 0xFF 0x01

29. Get Torque Compensation Coefficient
    

    Command Length: 3

    Function Code: 0x78

    Send Data Bits: None Feedback Data Bits:

    • Bytes 1-7: Full Joint Torque Compensation Coefficient

30. Circular Arc Trajectory
    

    Command Length: 0x1C
    

    Function Code: 0x8C
    

    Send Data Bits:
    

    Circular Arc Path Point (transpoint) Circular Arc End Point (endpoint)
    

    Bytes 1-2: transpoint.x (*10) Bytes 3-4: transpoint.y
    

    Bytes 5-6: transpoint.z Bytes 7-8: transpoint.rx (*100)
    

    Bytes 9-10: transpoint.ry
    

    Bytes 11-12: transpoint.rz Bytes 13-14: endpoint.x (*10)
    

    Bytes 15-16: endpoint.y Bytes 17-18: endpoint.z
    

    Bytes 19-20: endpoint.rx (*100) Bytes 21-22: endpoint.ry
    Bytes 23-24: endpoint.rz
    Byte 25: speed (1-100)
    

    Feedback data bits: 0xFF 0x01
    

    Based on the current position of the robotic arm (starting point), the given arc transit point (transpoint), and the arc ending point (endpoint), an arc is determined by these three points, causing the robotic arm to execute the arc trajectory in the order of starting point, transit point, and ending point.

31. Set Motion Control Mode

    • This interface takes a relatively long time to execute, approximately 4ms.
      

    • Position Mode: The standard control mode, generally used.
      

    • Torque Mode: When activated, it automatically enables zero-force drag function. The robotic arm cannot be controlled in this mode.
      

    Instruction length: 4
    

    Function code: 0x1E
    

    Send data bits: Byte 1: Mode 0/1 0-Position 1-Torque, zero-force drag; Default position mode
    

    Feedback data bits: Byte 1: 0xFF, Byte 2: 0/1 0-Setting failure, incorrect parameters; 1-Parameter correct
    

32. Read Motion Control Mode
    

    Instruction length: 3
    

    Function Code: 0x1F

    Send Data Bits: None

    Feedback Data Bits: Byte 1: Mode 0/1 0-Position 1-Torque, Zero-Force Drag

33. Over-Limit Return to Zero

    • After exceeding the limit, manual movement back to the limit is not required; currently only supported in position mode, not in refresh mode control.
      
    • It is forbidden to send motion commands other than "stop" before the homing process is complete.
      

    Command Length: 3

    Function Code: 04

    Send Data Bits: None

    Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

34. Get Sampling Point

    • Pop the stored point from the sampling queue.

    Command Length: 3

    Function Code: 0x44

    Send Data Bits: None

    Feedback Fixed Data Bits: Bytes 1-28: 4*7 angels

35. Set Sampling Point

    • Push the sampling point into the sampling queue.

    Instruction length: 11

    Function code: 0x45

    Send data bits: Bytes 1-14: 2*7 angels

36. Get the sampling queue length

    Instruction length: 3

    Function code: 0x46

    Send data bits: None

    Feedback fixed data bits: Byte 1: Length

37. Get Zero-Space Deflection Angle Value

    • This interface is not available in the EDU version.

    Instruction Length: 3

    Function Code: 0x35

    Send Data Bits: None

    Feedback Fixed Data Bits: Byte 1: J1_angle_low, requires /100, Byte 2: J1_angle_high, requires /100

38. Set Zero-Space Deflection Angle Value

    • This interface is not available in the EDU version.

    Instruction Length: 6

    Function Code: 0x36

    Send Data Bits: Bytes 1-2: angle (x100), Byte 3: speed 1-100

    Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

39. RPY Rotation
    

    Command Length: 6
    

    Function Code: 0xF5
    

    Send Data Bits: Byte 1: Mode 1-3 1-Roll angle (around X-axis) 2-Pitch angle (around Y-axis) 3-Yaw angle (around Z-axis); Byte 2: Direction 0/1 0-Reverse rotation 1-Forward rotation Byte 3: Speed
    

    First-level Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
    

Dual-Arm Base Interface

The dual-arm Base coordinate system is located at the waist

1. Read BASE coordinates

   Command length: 3

   Function code: 0xF0

   Send data bits: None

   Feedback fixed data bits: Bytes 1-12: 2*6 coords

2. Send BASE single coordinates

   Command length: 7

   Function code: 0xF1

   Send data bits: Byte 1: Axis 1-6; Bytes 2-3: BaseCoord value; Byte 4: Speed 1-100

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01

3. Send BASE full coordinates

   Command length: 10

   Function code: 0xF2

   Send data bits: Bytes 1-12: 2*6 BaseCoord value; Byte 13: Speed 1-100
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

4. BASE coordinate jog control
   

   Instruction length: 6
   

   Function code: 0xF3
   

   Send data bits: Byte 1: Coordinate axes 1-6; Byte 2: Movement direction 0/1; Byte 3: Speed 1-100
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

5. Dual arm waist linkage
   

   Instruction length: 8
   

   Function code: 0x2E
   

   Send data bits: Bytes 1-2: currentWaist(angle100) ±180; Bytes 3-4: targetWaist(angle100) ±180; Byte 5: Speed 1-100
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

Auxiliary Functions

1. Set Zero Position

   Command Length: 3

   Function Code: 0x54

   Send Data Bits: Byte 1: Joints 1-7, 11-13

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

2. Robot Turns Off Torque Output, All Joints Relaxed

   Command Length: 3

   Function Code: 0x13

   Send Data Bits: None

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

3. Robot Turns On Torque Output, All Joints Locked

   Command Length: 3

   Function Code: 0x18

   Send Data Bits: None

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

4. Set Individual Motor Power Off

   Instruction Length: 4

   Function Code: 0x56

   Send Data Bits: Byte 1: Joints 1-7, 11-13

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

5. Set Single Motor Power On

   Instruction Length: 4

   Function Code: 0x57

   Send Data Bits: Byte 1: Joints 1-7, 11-13

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

6. Set Joint Brake Switch

   Instruction Length: 5

   Function Code: 0x19

   Send Data Bits: Byte 1: Joints 1-7,13; Byte 2: 0/1 1-On

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

7. Set RGB Color

   Instruction Length: 5

   Function Code: 0x6A Send data bits: Bytes 1-3: R, G, B, range 0-255, all 0s - light off
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

8. Set maximum speed
   

   Instruction length: 6
   

   Function code: 0x41
   

   Send data bits: Byte 1: Mode 0/1, 0-angle, 1-coordinate; Bytes 2-3: speed, can only be set within the maximum range
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

9. Set maximum acceleration
   

   Instruction length: 6
   

   Function code: 0x43
   

   Send data bits: Byte 1: Mode 0/1, 0-angle, 1-coordinate; Bytes 2-3: acceleration, can only be set within the maximum range
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01

10. Read Maximum Speed

    Instruction Length: 4

    Function Code: 0x40

    Send Data Bits: None

    Feedback Data Bits: Bytes 1-2: Speed

11. Read Maximum Acceleration

    Instruction Length: 4

    Function Code: 0x42

    Send Data Bits: Byte 1: Mode 0/1 0-Angle 1-Coordinate

    Feedback Data Bits: Bytes 1-2: Acceleration

12. Set Joint Minimum Angle
    

    Command Length: 6
    

    Function Code: 0x4c
    

    Send Data Bits: Byte 1: Joints 1-7,11-13, Bytes 2-3: Minimum Angle * 10.0; Can only be set within the default range, no error will occur upon power failure
    

    Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
    

13. Read Joint Minimum Angle
    

    Command Length: 4
    

    Function Code: 0x4a
    

    Send Data Bits: Byte 1: Joints 1-7,11-13
    

    Feedback Data Bits: Bytes 1-2: Minimum Angle / 10.0
    

14. Set Joint Maximum Angle
    

    Command Length: 6
    

    Function Code: 0x4d
    

    Send Data Bits: Byte 1: Joints 1-7,11-13, Bytes 2-3: Maximum angle * 10.0; can only be set within the default range, no error will occur upon power failure.

    Feedback fixed data bits: Bytes 1-2: 0xFF 0x01

15. Read maximum joint angle

    Instruction length: 4

    Function code: 0x4b

    Send data bits: Byte 1: Joints 1-7,11-13

    Feedback data bits: Bytes 1-2: Maximum angle / 10.0

16. Read Servo System Parameters
    

    Command Length: 6
    

    Function Code: 0x53
    

    Send Data Bits: Byte 1: id 11/12; Byte 2: addr 5-69; Bytes 3-4: mode 1/2
    

    Feedback Data Bits: Bytes 1-2: data
    

17. Set Servo System Parameters
    

    Command Length: 8
    

    Function Code: 0x52
    

    Send Data Bits: Byte 1: id 11/12; Byte 2: addr 5-69; Bytes 3-4: data; Byte 5: mode 1/2
    

    Feedback Data Bits: Bytes 1-2: 0xFF 0x01
    

18. Set Joint Direction
    

    • Zeroing is required before setting. Read the current direction first, then set.

    Instruction Length: 5
    

    Function Code: 0x7D
    

    Send Data Bits: Byte 1: Joints 1-7, Byte 2: Direction 0/1 1-Same Direction 0-Reverse Direction
    

    Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
    

19. Read Joint Direction
    

    Instruction Length: 3
    

    Function Code: 0x7C
    

    Send Data Bits: None
    

    Feedback Data Bits: Bytes 1-7: 1X7 Joint Direction, 1-Same Direction 0-Reverse Direction
    

20. Read VR Mode
    

    Instruction Length: 3
    

    Function Code: 0x79
    

    Send Data Bits: None
    Feedback Data Bits: Byte: 1-open 0-close
    

    Enabling VR mode reduces the motion command buffer length from 80 to 2.

    Suitable for development scenarios where motion buffer buildup is undesirable, such as VR control and remote control.

21. Set VR Mode
    

    Command Length: 4
    

    Function Code: 0x7A
    

    Send Data Bits: Byte: 1-open 0-close
    

    Feedback Data Bits: 0xFF 0x01
    

22. Get Velocity Fusion Planning Parameters
    

    • Used to modify the velocity and acceleration of the position loop velocity fusion interface.

    Command Length: 4
    

    Function Code: 0x4E
    

    Send Data Bits: Byte 1: 1-4, 1-fused joint velocity, 2-fused joint acceleration, 3-fused coordinate velocity, 4-fused coordinate acceleration
    

    Feedback Data Bits: Bytes 1-2: Velocity fusion planning parameters
    

23. Set Velocity Fusion Planning Parameters
    

    Command Length: 4

    Function Code: 0x4F

    Send Data Bits:

    • Byte 1: 0-4, 0-Restore default parameters (only available with set), 1-Merge joint velocity, 2-Merge joint acceleration, 3-Merge coordinate velocity, 4-Merge coordinate acceleration

    • Bytes 2-3: value, range 0-10000

    Feedback Data Bits: 0xFF 0x01

24. Get Monitoring Status

    Command Length: 3

    Function Code: 0xFB

    Send Data Bits: None

    Feedback Data Bits: Byte 1: 1-open 0-close

25. Set Monitoring Status

    • After enabling monitoring mode, the interpolation point will be continuously returned when sending motion commands.

    Command Length: 4

    Function Code: 0xFC

    Send Data Bits: Byte 1: 1-open 0-close

    Feedback data bits: 0xFF 0x01

IO Control

Bottom IO

Note: Bottom I/O is only supported on the left arm; the right arm does not have bottom I/O.

1. Set Base IO Output

   Instruction Length: 5

   Function Code: 0xA0

   Transmit Data Bits: Byte 1: Pin Number 1-6, Byte 2: Status 0/1 0-Low Level 1-High Level

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

2. Read Base IO Input

   Instruction Length: 4

   Function Code: 0xA1

   Transmit Data Bits: Byte 1: Pin Number 1-6

   Feedback Data Bits: Byte 1: Status 0/1 0-Low Level 1-High Level

End IO

1. Set End IO Output

   Instruction Length: 5

   Function Code: 0x61

   Transmit Data Bits: Byte 1: Pin Number 1/2 Byte 2: Status 0/1 1. 0 - Low level 1 - High level
   

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
   

2. Read end I/O input
   

   Instruction length: 4
   

   Function code: 0x62
   

   Send data bits: Byte 1: Pin number 1-2
   

   Feedback data bits: Byte 1: Status 0/1 0 - Low level 1 - High level
   

3. Read all end pin statuses
   

   Instruction length: 3
   

   Function code: 0x5F
   

   Send data bits: None
   

   Feedback data bits: Byte 1: Input 1 status 0/1 0 - Low level 1 - High level; Byte 2: Input 2 status; Byte 3: End button status
   

4. Whether the end button is pressed
   

   Instruction length: 3
   

   Function code: 0x6F
   

   Send data bits: None
   Feedback data bits: Byte 1: 0/1 1 - Pressed, 0 - Not pressed

End Gripper Control

Note: For Pro force control grippers and three-finger grippers, please refer to the "Setting/Reading End Gripper Values" protocol below.

1. Set Gripper Opening/Closed State
   

   Command Length: 6
   

   Function Code: 0x66
   

   Send Data Bits: Byte 1: State 0/1 0-open 1-close, Byte 2: Speed ​​1-100, Byte 3: Mode 1-Pro Adaptive Gripper, 2-Parallel Gripper, Default Pro Adaptive Gripper
   

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
   

2. Set Gripper Angle
   

   Command Length: 6
   

   Function Code: 0x67
   

   Send Data Bits: Byte 1: Gripper Angle 0-100, Byte 2: Speed ​​1-100, Byte 3: Mode 1-Pro Adaptive Gripper, 2-Parallel Gripper, Default Pro Adaptive Gripper
   

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01
   

3. Set Gripper Zero Point
   

   • Set the gripper to zero position when it is fully open.

     Command length: 3

     Function code: 0x68

     Send data bits: None

     Feedback fixed data bits: Bytes 1-2: 0xFF 0x01

4. Enable Pro adaptive gripper

   Command length: 4

   Function code: 0x58

   Send data bits: Byte 1: 0/1 1-Enable

   Feedback fixed data bits: Bytes 1-2: 0xFF 0x01

5. Set gripper mode

   • Mode: Port/Pass-through mode. The default is port mode. The mode is not saved after power failure. The gripper automatically switches to port mode upon power-on after a power failure. Once switched to pass-through mode, it cannot be set back to port mode unless the gripper is powered on and off again.

   • Port: 2 output I/O, one high and one low to control gripper opening and closing.

   • Pass-through: Controls gripper opening and closing via interface.

     Command Length: 4

     Function Code: 0x6D

     Send Data Bits: Byte 1: Mode 0 - Pass-through, 1 - Port

     Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

6. Get Gripper Mode:

   Command Length: 3 bits

   Function Code: 0x6E

   Send Data Bits: None

   Feedback Fixed Data Bits: Byte 1: 0/1 0 - Pass-through, 1 - Port

7. Set Electric Gripper Opening and Closing:

   • After the gripper is powered on, initial opening and closing requires initialization. The gripper LED will turn red after power-on.

     Command Length: 4 bits

     Function Code: 0x6B

     Send Data Bits: Byte 1: 0/1 1 - Closed, 0 - Open

     Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
     

8. Set electric gripper initialization
   

   • After the gripper is powered on, initialization is required for the first opening and closing. The gripper LED will turn red after power is on.
     

     Command length: 3
     

     Function code: 0x6C
     

     Send data bits: None
     

     Feedback fixed data bits: Bytes 1-2: 0xFF 0x01
     

9. Set End-of-Life Accessory Values
   

   • Only supports Pro force control grippers and three-finger grippers

   • Public interface; other specific function interfaces: Force control gripper: Force Control Gripper Communication Protocol; Three-finger: Three-finger Communication Protocol

   • Force control IO: 1 bottom 2 high: On, 1 high 2 low: Off; After using the IO, the 485 needs to change the IO to the same state, 1 and 2 are both high or both low.

     Command length: 8-N
     

     Function code: 0xD8
     

     Send data bits:

     • Byte 1: Gripper ID, default 14
       

     • Bytes 2-3: Gripper function register address
       

     • Bytes 4-N: data1, data2...... Maximum byte 60

     Feedback data bits: Bytes 1-2: 0xFF 0x01
     

10. Read end-effector value
    

    • Only supports Pro force control gripper and three-finger gripper

    • Public interface, other specific function interfaces: Force control gripper: Force Control Gripper Communication Protocol; Three-finger gripper: Three-finger Communication Protocol

    • Force control I/O: 1 low, 2 high: On; 1 high, 2 low: Off; After using the I/O, the 485 needs to change the I/O to the same state, 1 and 2 should be either both high or both low.

    Instruction length: 6 or 8

    Function code: 0xD9

    Send data bits:

    - Byte 1: Gripper ID, default 14
    
    - Bytes 2-3: Gripper function register address
    
    - Bytes 4-5: Data (optional)
    

    Feedback data bits: Gripper parameter values

Setting up Endpoint 485 Communication

1. 485 Factory Reset

   Command Length: 3

   Function Code: 0xB1

   Transmit Data Bits: None

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

2. Setting up 485 Communication

   Baud rate needs to be set before setting up

   Command Length: 3

   Function Code: 0xB2

   Transmit Data Bits: None

   Feedback Fixed Data Bits: Byte 1: 0/1 1 - Set

3. Reading 485 Buffer Length

   Command Length: 3

   Function Code: 0xB3

   Transmit Data Bits: None

   Feedback Fixed Data Bits: Byte 1: len 0-255 readable byte length

4. Reading Fixed-Length Data Read the buffer length before reading; data will be cleared after reading.

   Instruction Length: 4

   Function Code: 0xB4

   Send Data Bits: Byte 1: Maximum length 45

   Feedback Fixed Data Bits: Bytes 1-N: datas

5. Send Data

   Instruction Length: 3+N

   Function Code: 0xB5

   Send Data Bits: Bytes 1-N: datas, N: Maximum 45

   Feedback Fixed Data Bits: Byte 1: len 0-45, total length sent in one operation

6. Clear Buffer

   Instruction Length: 3

   Function Code: 0xB6

   Send Data Bits: None

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

7. Set 485 Baud Rate

   Instruction Length: 7 Function Code: 0xB8

   Send Data Bits: Bytes 1-4: Baud rate, common baud rates are 9600, 115200, 1000000, etc., default is 115200

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

8. Set 485 Timeout

   Command Length: 5

   Function Code: 0xB9

   Send Data Bits: Bytes 1-2: Timeout, in milliseconds, default 30ms

   Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

Status Query

1. Read Robot Status

   Command Length: 3

   Function Code: 0xA2

   Send Data Bits: None

   Feedback Data Bits: Byte 1: Collision detection status 0/1 1-Collision; Byte 2: Movement status 0/1 1-In motion; Bytes 3-10: 81 Joints J1-J7 J13 exceeding limits 0/1 1-Exceeding limits; Bytes 11-30: 102 Joint motors reporting errors, overcurrent, overtemperature, etc. 0-65535, 0-Normal >0 Abnormal (see right side for specific status, e.g., undervoltage value: 8192) Errors 2/6/7/14/15 cannot be cleared, take emergency stop/power off the whole machine j1-7 j13 j11-12, j11-12 returning 65535 indicates no communication for this joint, see the error information table for details; Bytes 31-46: 8*2 Joint motor software error 0-Normal >0 Abnormal; see error information and position feedback table for details.

2. Read Motion Error Information
   

   Command Length: 3

   Function Code: 0x07

   Send Data Bits: None

   Feedback Data Bits: Bytes 1-2: Error Information, see error information and position feedback table for details.

3. Read Joint Communication Error Count
   

   Instruction Length: 5

   Function Code: 0xA3

   Send Data Bits: Byte 1: Joints 1-7、13; Byte 2: Type 1-4, 1-Joint Send Error Count, 2-Joint Acquisition Error Count, 3-Endpoint Send Error Count, 4-Endpoint Acquisition Error Count

   Feedback Data Bits: Bytes 1-2: Error Count, Range 0-32700

4. Read Joint Running Speed
   

   Instruction Length: 3

   Function Code: 0xE1

   Send Data Bits: None

   Feedback Data Bits: Bytes 1-14: 2X7 Running Speed / 100.0 +30 ~ -30 rpm

5. Acquire Joint Current

   Instruction Length: 3

   Function Code: 0xE2

   Send Data Bits: None

   Feedback Data Bits: Bytes 1-14: 2X7 Joint Current Unit: MA
   

6. Get Joint Status
   

   Command Length: 3
   

   Function Code: 0xE4
   

   Send Data Bits: None
   

   Feedback Data Bits: Bytes 1-14: 2x7 Range: 0-65535 (Undervoltage value: 8192), Status: 0 - OK
   

7. Read Zero-Position Encoder Value
   

   Command Length: 3
   

   Function Code: 0x59
   

   Send Data Bits: None
   

   Feedback Data Bits: Bytes 4x7: Joints J1-J7
   

8. Read Zero-Position Encoder Value
   

   Command Length: 3
   

   Function Code: 0xA5
   

   Send Data Bits: None
   

   Feedback Data Bits: Bytes 1-2: Angle/100, Default 21°
   

9. Read Motor Errors During Movement
   

   Instruction Length: 3

   Function Code: 0x9C

   Send Data Bits: None

   Feedback Data Bits: Bytes 1-14: 2x7

Setting the Coordinate System

1. Setting the Tool Coordinate System

   Command Length: 0x0F

   Function Code: 0x81

   Send Data Bits:

   • Bytes 1-2: x (±1000) (10xmm)

   • Bytes 3-4: y (±1000)

   • Bytes 5-6: z (±1000)

   • Bytes 7-8: rx (±180) (100xRd)

   • Bytes 9-10: ry (±180)

   • Bytes 11-12: rz (±180)

     Feedback Data Bits: 0xFF 0x01

2. Reading the Tool Coordinate System

   Command Length: 3

   Function Code: 0x82

   Send Data Bits: None Feedback Data Bits:

   • Bytes 1-2: x (±1000) (10xmm)

   • Bytes 3-4: y (±1000)

   • Bytes 5-6: z (±1000)

   • Bytes 7-8: rx (±180) (100xRd)

   • Bytes 9-10: ry (±180)

   • Bytes 11-12: rz (±180)

3. Set World Coordinate System

   Command Length: 0x0F

   Function Code: 0x83

   Send Data Bits:

   • Bytes 1-2: x (-2800~280) (10xmm)

   • Bytes 3-4: y (-2800~280)

   • Bytes 5-6: z (-2800~280)
     

   • Bytes 7-8: rx (±3140) (100xRd)
     

   • Bytes 9-10: ry (±3140)
     

   • Bytes 11-12: rz (±3140)
     

     Feedback data bits: 0xFF 0x01
     

4. Read World Coordinate System
   

   Command Length: 3
   

   Function Code: 0x84
   

   Send Data Bits: None
   

   Feedback Data Bits: Bytes 1-12: 2x6 coords
   

5. Set Base Coordinate System
   

   Command Length: 4
   

   Function Code: 0x85
   

   Send Data Bits: Byte 1: base type (0-base coordinate system 1-world coordinate system)
   

   Feedback Data Bits: 0xFF 0x01
   

6. Read Base Coordinate System
   

   Command Length: 3
   

   Function Code: 0x86
   Send Data Bits: None
   Feedback Data Bits: Byte 1: base type (0-base coordinate system 1-world coordinate system)
   

7. Set End Coordinate System
   

   Command Length: 4
   

   Function Code: 0x89
   Send Data Bits: Byte 1: end type (0-flange 1-tool)
   Feedback Data Bits: 0xFF 0x01
   

8. Read End Coordinate System
   

   Command Length: 3
   

   Function Code: 0x8A
   Send Data Bits: None
   Feedback Data Bits: Byte 1: end type (0-flange 1-tool)
   

9. Set Movement Type
   

   • Switch Movement Type (0-moveJ 2-moveF) 0 is the default mode, 2 is the joint speed fusion mode (used in VR, joystick control, etc.).

     Instruction Length: 4

     Function Code: 0x87

     Send Data Bits: Byte 1: movement type (0-moveJ, 2-moveF)

     Feedback Data Bits: 0xFF 0x01

10. Read Movement Type

    Instruction Length: 3

    Function Code: 0x88

    Send Data Bits: None

    Feedback Data Bits: Byte 1: movement type

Error Clearing

1. Clear Motion Errors

   • Clear motion reading errors, such as exceeding limits, coordinates not reaching, etc.

     Command Length: 3

     Function Code: 08

     Send Data Bits: None

     Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

2. Joint Anomaly Recovery

   • Clearing errors from some joint motors (after clearing, read the robot status again to see if clearing was successful). Error bits 2/6/7/14/15 cannot be cleared abnormally; take emergency stop/power off the entire machine.

     Command Length: 4

     Function Code: 0xE7

     Send Data Bits: Byte 1: Joints 1-7, 254-All Joints

     Feedback Fixed Data Bits: Bytes 1-2: 0xFF 0x01

Common Problems

1. Robotic Arm Cannot Move?

   • To check if the robotic arm is enabled, if there are any errors in the joint motors, and if any joints have exceeded limits, you can call Read Robot Status. 2. No response to command.

   • Check if the command was sent correctly. All commands have a first-level handshake feedback.

2. Power on only: End LED turns yellow.

3. Power on successfully: End LED turns green.

4. Movement exceeds limits, point cannot be reached: End LED turns blue.

5. MyStudio - Free movement mode: End LED turns purple.

Error Messages and Position Feedback Table

Position Feedback Table

0-20 Joint Overlimit, Collision, Pause, etc.

20-23 (32-35) Coordinate Movement Abnormality (Check Joint Limits)

41-47 (65-71) Joint abnormality

Motion Error Information Table

Return Data Format: 0xD0 + xx (e.g., 0xD001 indicates 1 joint is out of tolerance)

0-7 Joint Out of Tolerance

20-24 (32-36) Coordinate Motion Abnormality

Joint Motor Error Message Table

1. Software Error Alarms

2 Motor built-in error alarms