Communication Protocol Package

Gcode Command Introduction (for Serial, WiFi, Bluetooth Communication)

Communication Methods

Serial Communication

Parameter Value
Baud Rate 115200/1000000 (configurable via command or screen settings)
Data Bits 8
Stop Bits 1
Parity None

WiFi Communication

  • Communication Mode: TCP Client
  • Connection: External device connects to the same WiFi network as the screen, then connects as TCP client to the screen's IP address and port
  • Data Format: Same as serial communication, using Gcode command format

Bluetooth Communication

  • Communication Mode: Bluetooth
  • Connection: After the screen enables Bluetooth, external devices can search and connect to the screen's Bluetooth device
  • Data Format: Same as serial communication, using Gcode command format

Command Format

  • $ - Start marker, indicates data includes checksum
  • * - Checksum separator
  • XX - Two hexadecimal XOR checksum value (calculated by XORing all characters after $ and before *)
  • \r\n - Line terminator

Example

  • Original command: G0 X10
  • Command with checksum: $G0 X10*2B\r\n (assuming XOR result is 0x2B)

Response Format

  • Success: Command OK or Command ReturnValue
  • Failure: Command ERROR:ErrorCode
  • Motion complete feedback: EndEnd

Command Categories

Basic Control

  1. Read Main Controller Version Command: G6 Response: G6 GetSystemVersion:12 (e.g., version V1.2) Description: Returns major and minor version number (1 decimal place). Returns G6 ERROR:0 when screen fails to get version.

  2. Read Modify Version Command: G7 Response: G7 GetModifyVersion:5 (e.g., modify version 5) Description: Returns modify version number. Returns G7 ERROR:0 when screen fails to get version.

  3. Read Error Status Command: G8 Response: G8 ERROR:uint32_t Description: Returns 32-bit error status, where each bit represents an error type. Refer to byte43-46 in "High Frequency Data Reading" for error codes.

  4. Upgrade STM32 Firmware Command: G11 Response: G11 OK / G11 ERROR:0~4 Description: Screen sends command to handshake with main controller. After successful handshake, main controller enters boot mode for data reception and upgrade. Error cases:

  5. ERROR:0 - Bin file not found
  6. ERROR:1 - Failed to open upgrade firmware file
  7. ERROR:2 - Failed to enter STM32 upgrade mode
  8. ERROR:3 - SD card open failed

  9. ERROR:4 - File name mismatch

  10. Read Motor Enable Status Command: M22 Response: M22 MotorEnable:1,1,1,1,1 Description: 5 motor enable states (J1~J4 + conveyor belt), 1=enabled, 0=disabled

  11. Release All Motors Command: M17 J[0-4] Parameters: J=0 release all joints, J=1~4 release corresponding joint Response: M17 OK / M17 ERROR:0

  12. Lock All Motors Command: M18 J[0-4] Parameters: J=0 lock all joints, J=1~4 lock corresponding joint Response: M18 OK / M18 ERROR:0

  13. Read Main Controller Running Status Command: M200 Response: M200 MainMoving:0 (0=stopped, 1=moving)

  14. Get Execution Point Buffer Size Command: M600 Response: M600 Queue_size:50

Motion Control

  • Speed range: 1-100 (percentage), each 1% corresponds to approximately 1.6 degrees/s
  • Motion complete feedback: EndEnd
  • Limit error auto-report: LimitError:0 (1:J1 limit, 2:J2 limit, 4:J3 limit, 8:J4 limit, 16:J2/J3 coupling)
  • Collision detection auto-report: CollisionDetectionError:1 (1:J1, 2:J2, 3:J3)

1. Coordinate Control (Max Speed)

Command: G0 Parameters: X X-axis coordinate(mm), Y Y-axis coordinate(mm), Z Z-axis coordinate(mm), R R-axis angle(deg), F Speed(1%-100%) Response: EndEnd Example: G0 X100 Y200 Z300 F100 Description: Move to target coordinate at maximum speed

2. Coordinate Control (Specified Speed)

Command: G1 Parameters: X X-axis coordinate(mm), Y Y-axis coordinate(mm), Z Z-axis coordinate(mm), R R-axis angle(deg), F Speed(1%-100%) Response: EndEnd Example: G1 X223.500 Y0 Z-250 F100 Description: Move to target coordinate at specified speed

3. Multi-Joint Control

Command: G1 Parameters: A J1 joint angle(deg), B J2 joint angle(deg), C J3 joint angle(deg), D J4 joint angle(deg), F Speed(1%-100%) Response: EndEnd Example: G1 A10 B10 C10 F20 Description: Each joint moves to target angle at specified speed

4. Single Joint Control

Command: G1 Parameters: A/B/C/D Target joint angle(deg), F Speed(1%-100%) Response: EndEnd Example: G1 A10 F20 Description: Specified joint moves to target angle at specified speed

5. Single Axis Control

Command: G1 Parameters: X/Y/Z/R Target coordinate value, F Speed(1%-100%) Response: EndEnd Example: G1 X10 F20 Description: End effector moves linearly along specified axis to target position

6. Continuous Joint Motion (JogAngle)

Command: M13 Parameters: J Joint(1-4), D Direction(0-negative, 1-positive), F Speed(1%-100%) Response: EndEnd Example: M13 J3 D0 F100 Description: Specified joint moves continuously from current angle in specified direction until limit is reached

7. Continuous Coordinate Motion (JogCoord)

Command: M14 Parameters: J Axis(1-X, 2-Y, 3-Z, 4-Rx), D Direction(0-negative, 1-positive), F Speed(1%-100%) Response: EndEnd Example: M14 J3 D0 F100 Description: End effector moves continuously along specified axis direction until limit is reached

8. Joint Step Control

Command: M19 Parameters: J Joint(1-4), T Step value(deg), F Speed(1%-100%) Response: EndEnd Example: M19 J3 T10 F100 Description: Specified joint moves relative to current position by specified angle increment

  • J1 step range: +/- (0.1~316)deg
  • J2 step range: +/- (0.1~103)deg
  • J3 step range: +/- (0.1~101)deg
  • J4 step range: +/- (0.1~358)deg

9. Coordinate Step Control

Command: M20 Parameters: J Axis(1-X, 2-Y, 3-Z, 4-Rx), T Step value(mm/deg), F Speed(1%-100%) Response: EndEnd Example: M20 J3 T10 F100 Description: End effector moves relative to current position by specified distance along specified axis

  • X step range: +/- (0.1~316)mm
  • Y step range: +/- (0.1~360)mm
  • Z step range: 91~-157mm
  • R step range: +/- 180deg

10. Emergency Stop

Command: M15 Response: M15 OK / M15 ERROR:0 Description: Immediately stops current motion and clears all pending motion commands in buffer

11. Unlock After Collision Detection

Command: M5 Response: M5 OK / M5 ERROR:0 Description: After collision, system enters locked state and cannot be motion controlled. This command releases the motion restriction.

12. Force Homing

Command: M37 Response: EndEnd / M37 ERROR:0 Description: Robot first moves to A0B40C30D0 position, then to zero position (A0B0C90D0) to prevent coupling during homing

13. Inverse Kinematics: Read Angles from Coordinates

Command: M46 Parameters: X X-axis coordinate(mm), Y Y-axis coordinate(mm), Z Z-axis coordinate(mm), R R-axis angle(deg) Response: M46 angle:A-3.501 B33.398 C156.709 D-167.168 Error: M46 ERROR:1(limit), M46 ERROR:2(coupling), M46 ERROR:3(no solution) Example: M46 X215.517 Y-13.185 Z-60.710 R-170.669

14. Forward Kinematics: Read Coordinates from Angles

Command: M47 Parameters: A J1 joint angle(deg), B J2 joint angle(deg), C J3 joint angle(deg), D J4 joint angle(deg) Response: M47 coord:X215.516 Y-13.185 Z-60.710 R-170.669 Error: M47 ERROR:1(limit), M47 ERROR:2(coupling) Example: M47 A-3.501 B33.398 C156.709 D-167.168

15. Preview Mode

Command: M51 Parameters: X X-axis coordinate(mm), Y Y-axis coordinate(mm), Z Z-axis coordinate(mm), R R-axis angle(deg) Response: M51 OK(reachable) / M51 ERROR:0(unreachable) Example: M51 X223.500 Y0 Z50 R50 Description: Input complete coordinates to check if reachable without actual motion

Auxiliary Functions

Configuration

  1. Zero Calibration Command: M30 Parameters: J Joint(0-4), 0-all joints, 1~4-corresponding joint Response: EndEnd Example: M30 J1 Description: Manually move robot to scale mark for joint calibration. Sets J1/J2/J4 current position to 0deg, J3 to 90deg.

  2. Read Zero Calibration Status Command: M119 Response: M119 ZEROSTATE:0,0,0,0 (1=calibrated, 0=not calibrated)

  3. Clear Zero Calibration Status Command: M32 Parameters: J Joint(1-4) Response: M32 OK / M32 ERROR:0

  4. Set RGB Color Command: M23 Parameters: R Red(0-255), G Green(0-255), B Blue(0-255) Response: M23 OK / M23 ERROR:0 Example: M23 R50 G50 B50

  5. End Effector Button Enable Command: M35 Response: M35 OK / M35 ERROR:0 Description: After enabling, end effector button can release all joints

  6. End Effector Button Disable Command: M36 Response: M36 OK / M36 ERROR:0

  7. Read End Effector Button Status Command: M64 Response: M64 BTN:0 (1=pressed, 0=released)

  8. Get Collision Detection Threshold Command: M3 Response: M3 CollisionThreshold:0,0,0,0 (range: 0.5~5)

  9. Set Collision Detection Threshold Command: M21 Parameters: J Joint(0-4, 0=all), P Threshold(0.5~5deg) Response: M21 OK / M21 ERROR:0 Example: M21 J1 P2

  10. Clear Error Status Command: M40 Response: M40 OK / M40 ERROR:0 Description: Clear all error status at once. Hardware errors need hardware repair before clearing.

IO Control
Base IO

  1. Set Base IO Output Command: M60 Parameters: P Pin number(1-10), K Mode(0-input, 1-output), S State(0-low, 1-high) Response: M60 OK / M60 ERROR:0 Example: M60 P5 K0 S0 Description: Default 1-5 input, 6-10 output. In input mode, pull-up/down only provides default level, actual level determined by external signal.

  2. Read Base IO Status Command: M61 Response: M61 IO:0,0,0,0,0,2,2,2,2,2 Description: 0=input low, 1=input high, 2=output low, 3=output high

End Effector IO

  1. Set End Effector IO Output Command: M62 Parameters: P Pin number(3-4, controls IO3/IO4), S State(0-low, 1-high) Response: M62 OK / M62 ERROR:0 Example: M62 P3 S1 Description: IO1, IO2 are input pins, IO3, IO4 are output pins

  2. Read End Effector IO Status Command: M63 Response: M63 IO:0,0,0,0 Description: 0=input low, 1=input high, 2=output low, 3=output high

Gripper Control

  1. Control Gripper Angle Command: M25 Parameters: P Angle(1-100, corresponding to 0.5~50deg), F Speed(1-100) Response: M25 OK / M25 ERROR:0 Example: M25 P50 F50

  2. Read Gripper Angle Command: M50 Response: M50 GRIPPERANGLE:50 (0-100, 100=open)

  3. Set Gripper Parameters Command: M24 Parameters: J Address(1-69), K Mode(1-value range 0-255, 2-value range >255), L Value(0-65535) Response: M24 OK / M24 ERROR:0 Example: M24 J5 K1 L20

  4. Read Gripper Parameters Command: M26 Parameters: J Address(1-69), K Mode(1-value range 0-255, 2-value range >255) Response: M26 GripperParameters:0

  5. Read Gripper Motion State Command: M27 Response: M27 MotionState:0 (0=stopped, 1=moving)

  6. Set Gripper Enable State Command: M28 Parameters: S State(0=disabled, 1=enabled) Response: M28 OK / M28 ERROR:0 Description: After enabling, manual movement will auto-reset

  7. Gripper Calibration Command: M29 Response: M29 OK / M29 ERROR:0 Description: Gripper opens to maximum stroke for calibration, current position becomes 100 after calibration

Vacuum Pump Control
  1. Set Vacuum Pump State Command: M70 Parameters: S State(0=suck, 1=blow, 2=off) Response: M70 OK / M70 ERROR:0 Example: M70 S1
Laser/PWM Control

  1. Laser On/Off Command: M80 Parameters: K State(0=off, 1=on) Response: M80 OK / M80 ERROR:0 Example: M80 K1

  2. Set PWM Level (Laser) Command: M81 Parameters: S Duty cycle(0-255) Response: M81 OK / M81 ERROR:0 Example: M81 S50

  3. Custom PWM On/Off Command: M82 Parameters: K State(0=off, 1=on) Response: M82 OK / M82 ERROR:0 Example: M82 K1

  4. Set PWM Level (Custom) Command: M83 Parameters: S Duty cycle(0-255) Response: M83 OK / M83 ERROR:0 Example: M83 S50

  5. Read PWM Settings Command: M84 Response: M84 PWM:0,0,0,0 (laser state, laser level, custom PWM state, custom PWM level)

Conveyor Control

  1. Conveyor Control Command: M38 Parameters: J On/Off(1=on, 0=off), K Direction(0=forward, 1=backward), L Speed(1-125mm/s), S Distance(0=continuous, 1-1200mm) Response: M38 OK / M38 ERROR:0 Example: M38 J1 K1 L20 S1000

  2. Conveyor Stop Command: M39 Response: M39 OK / M39 ERROR:0 Description: Conveyor stops slowly when moving, deceleration time ~500ms

Status Query

  1. Read Angles Command: M405 Response: M405 angles:0.00,0.00,0.00,0.00

  2. Read Coordinates Command: M406 Response: M406 coords:0.00,0.00,0.00,0.00

  3. Enable/Disable Periodic Angle Report Command: M407 Parameters: S Mode(0=off, 1=periodic report via UART1, 2=periodic report via UART0, 3=periodic report via WiFi, 4=periodic report via Bluetooth) Response: M407 angles:...;coords:...;pwr:1;run:0;err:0

  4. Read Screen Major/Minor Version Command: M401 Response: M401 GetSystemVersion:12 (e.g., version V1.2)

  5. Read Screen Modify Version Command: M402 Response: M402 GetModifyVersion:5 (e.g., modify version 5)

  6. Get Screen Control Page Status Command: M601 Response: M601 ControlPage:1 (1=control page, 0=non-control page)

  7. Notify Screen of PC Control Status Command: M602 Parameters: S State(1=PC on control page, 0=PC not on control page) Response: M602 OK / M602 ERROR:0

  8. Get Limit Switch Status Command: M52 Response: M52 SIG:0

I2C Communication

  1. I2C Data Write Command: M300 Parameters: I Session ID(0-255), U Packet ID(0-255), S Operation(1=write), L Slave Address(0-125), H Register Address(0-65535), N Data Length(1-255), K Data(hex, length determined by N) Response: M300 OK / M300 ERROR:0~7 Example: M300 I1 U1 S1 L13 H45 N2 K8f 1E Description: ERROR:1-missing required parameters, ERROR:2-data length N mismatch, ERROR:3-missing K parameter, ERROR:4-address error/device not connected, ERROR:5-slave no response, ERROR:6-invalid parameter, ERROR:7-binary frame CRC error

  2. I2C Data Read Command: M300 Parameters: I Session ID(0-255), U Packet ID(0-255), S Operation(0=read), L Slave Address(0-125), H Register Address(0-65535), N Data Length(1-255) Response: M300 data:0f 24 (read data) / M300 ERROR:0~7 Example: M300 I1 U1 S0 L23 HFFFF N2

Modbus Command Introduction (for RS485 Communication)

Communication Parameters

Parameter Value
Baud Rate 115200
Data Bits 8
Stop Bits 1
Parity None
Device Address 46 (0x2E)
Write Function Code 16 (0x10)
Read Function Code 03 (0x03)

Note: Parity bit (UART hardware layer) and checksum (Modbus protocol layer) are different concepts:

  • Parity Bit: Hardware-level parity in UART serial communication. This protocol uses "no parity" (8N1 mode)
  • Checksum: Software-level checksum in Modbus protocol. Uses CRC-16 cyclic redundancy check, appended at the end of data frame

Communication Frame Format

1. Write Command (Master -> Device)

Field Length Description
Address 1 byte Device address: 46 (0x2E)
Function Code 1 byte 0x10 (Write Multiple Registers)
Start Register Address 2 bytes Starting register address (high byte first)
Register Count 2 bytes Number of registers N to write
Data Length 1 byte Data length = 2xN
Data 2xN bytes Actual data (high byte first)
Checksum 2 bytes Modbus CRC16 (low byte first)

Format: [Address-0x2E][FunctionCode-0x10][RegisterAddress-2bytes][RegisterCount-2bytes][DataLength-1byte][Data-2*Nbytes][Checksum-2bytes]

2. Write Response (Device -> Master)

Field Length Description
Address 1 byte 0x2E
Function Code 1 byte 0x10
Start Register Address 2 bytes Starting register address
Register Count 2 bytes Number of registers written
Checksum 2 bytes Modbus CRC16 (low byte first)

3. Read Command (Master -> Device)

Field Length Description
Address 1 byte 0x2E
Function Code 1 byte 0x03
Start Register Address 2 bytes Starting register address
Register Count 2 bytes Number of registers N to read
Checksum 2 bytes Modbus CRC16 (low byte first)

4. Read Response (Device -> Master)

Field Length Description
Address 1 byte 0x2E
Function Code 1 byte 0x03
Data Length 1 byte Data length = 2xN
Data 2xN bytes Read data
Checksum 2 bytes Modbus CRC16 (low byte first)

Notes: Register address 00 xx indicates commands forwarded to STM32, 01 xx indicates screen local commands. Modbus uses 16-bit two's complement for signed integers. Checksum calculation uses Modbus CRC16, low byte first.

Examples

  1. Read Main Controller Version: 2E 03 00 01 00 CRC1 CRC2 Response: 2E 03 00 01 02 00 0C CRC1 CRC2 (version V1.2)

  2. Coordinate Control: 2E 10 00 04 0A XX XX XX XX XX XX XX XX XX XX CRC1 CRC2 Position feedback: 2E 10 00 5B 00 CRC1 CRC2

Modbus Command List

Basic Control

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
G6 03 00 01 0 - 2 byte1-2: Version (e.g., V1.2=12) Read main controller version
G7 03 00 02 0 - 2 byte1-2: Modify version Read main controller modify version
G8 03 01 06 0 - 4 byte1-4: 32-bit error status Read error status (32-bit)
G11 16 01 08 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type Upgrade STM32 firmware
M5 16 00 09 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type Unlock after collision detection
M17 16 00 10 2 byte1-2: J(0-4, 0=all joints) 2 byte1: Success 1/Fail 0, byte2: Fail type Release motors
M18 16 00 11 2 byte1-2: J(0-4, 0=all joints) 2 byte1: Success 1/Fail 0, byte2: Fail type Lock motors
M22 03 00 12 0 - 5 byte1-5: J1~J4+conveyor enable(1=enabled,0=disabled) Read motor enable status
M200 03 01 07 0 - 1 byte1: 1=moving,0=stopped Read main controller running status
M600 03 01 09 0 - 2 byte1-2: Buffer size Get execution point buffer size

Motion Control

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
G0 16 00 03 10 byte1-2:X100, byte3-4:Y100, byte5-6:Z100, byte7-8:R100, byte9-10:F*100 - Position feedback: 2E 10 00 5B 00 CRC Coordinate control (max speed)
G1 16 00 04 10 byte1-2:X100, byte3-4:Y100, byte5-6:Z100, byte7-8:R100, byte9-10:F*100 - Position feedback: 2E 10 00 5B 00 CRC Coordinate control (specified speed)
G1 16 00 05 10 byte1-2:A100, byte3-4:B100, byte5-6:C100, byte7-8:D100, byte9-10:F*100 - Position feedback: 2E 10 00 5B 00 CRC Multi-joint control
G1 16 00 06 6 byte1-2:Axis(1-4=X-R), byte3-4:Data100, byte5-6:F100 - Position feedback: 2E 10 00 5B 00 CRC Single axis control
G1 16 00 07 6 byte1-2:Joint(1-4=A-D), byte3-4:Angle100, byte5-6:F100 - Position feedback: 2E 10 00 5B 00 CRC Single joint control
M13 16 00 0A 6 byte1-2:Joint(1-4), byte3-4:Dir(0=neg,1=pos), byte5-6:F*100 - Position feedback: 2E 10 00 5B 00 CRC Continuous joint motion
M14 16 00 0B 6 byte1-2:Axis(1-4=X-R), byte3-4:Dir(0=neg,1=pos), byte5-6:F*100 - Position feedback: 2E 10 00 5B 00 CRC Continuous coordinate motion
M15 16 00 0F 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type Emergency stop
M19 16 00 0C 6 byte1-2:Joint(1-4), byte3-4:Step100, byte5-6:F100 - Position feedback: 2E 10 00 5B 00 CRC Joint step control
M20 16 00 0D 6 byte1-2:Axis(1-4=X-R), byte3-4:Step100, byte5-6:F100 - Position feedback: 2E 10 00 5B 00 CRC Coordinate step control
M37 16 00 1A 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type Force homing
M46 03 00 33 8 byte1-2:X100, byte3-4:Y100, byte5-6:Z100, byte7-8:R100 8 byte1-2:A100, byte3-4:B100, byte5-6:C100, byte7-8:D100 Inverse kinematics
M47 03 00 34 8 byte1-2:A100, byte3-4:B100, byte5-6:C100, byte7-8:D100 8 byte1-2:X100, byte3-4:Y100, byte5-6:Z100, byte7-8:R100 Forward kinematics
M51 03 00 1D 8 byte1-2:X100, byte3-4:Y100, byte5-6:Z100, byte7-8:R100 2 byte1: Reachable 1/Unreachable 0, byte2: Fail type Preview mode

Configuration

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
M23 16 00 13 6 byte1-2:R(0-255), byte3-4:G(0-255), byte5-6:B(0-255) 2 byte1: Success 1/Fail 0, byte2: Fail type RGB end effector light control
M30 16 00 14 2 byte1-2:J(0-4, 0=all joints) - Position feedback: 2E 10 00 5B 00 CRC Zero calibration
M32 16 00 16 2 byte1-2:J(1-4) 2 byte1: Success 1/Fail 0, byte2: Fail type Clear zero calibration status
M35 16 00 18 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type End effector button enable
M36 16 00 19 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type End effector button disable
M40 16 00 1C 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type Clear error status
M119 03 00 1F 0 - 4 byte1-4: J1~J4 calibration(1=calibrated,0=not) Read zero calibration status

IO Control

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
M60 16 00 28 6 byte1-2:P(1-10), byte3-4:K(0=input,1=output), byte5-6:S(0=low,1=high) 2 byte1: Success 1/Fail 0, byte2: Fail type Set base IO output
M61 03 00 29 0 - 10 byte1-10: 10 IO states(0=input low,1=input high,2=output low,3=output high) Read base IO status
M62 16 00 2A 4 byte1-2:P(3-4), byte3-4:S(0=low,1=high) 2 byte1: Success 1/Fail 0, byte2: Fail type Set end effector IO output
M63 03 00 2B 0 - 4 byte1-4: 4 IO states(0=input low,1=input high,2=output low,3=output high) Read end effector IO status
M64 03 01 0C 0 - 1 byte1: 1=pressed,0=released Read end effector button status

Gripper Control

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
M24 16 00 22 4 byte1-2:J(1-69), byte3-4:L(0-65535) 2 byte1: Success 1/Fail 0, byte2: Fail type Set gripper parameters
M25 16 00 21 4 byte1-2:P(1-100)*100, byte3-4:F(1-100) 2 byte1: Success 1/Fail 0, byte2: Fail type Control gripper angle
M26 03 00 23 2 byte1-2:J(1-69) 2 byte1-2: Gripper parameter value Read gripper parameters
M27 03 00 24 0 - 2 byte1-2: Motion state(0=stopped,1=moving) Read gripper motion state
M28 16 00 25 2 byte1-2:S(0=disabled,1=enabled) 2 byte1: Success 1/Fail 0, byte2: Fail type Set gripper enable state
M29 16 00 26 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type Gripper zero calibration
M50 03 00 20 0 - 2 byte1-2: Gripper angle*100 Read gripper angle

Vacuum Pump/Laser/PWM/Conveyor

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
M70 16 00 27 2 byte1-2:S(0=suck,1=blow,2=off) 2 byte1: Success 1/Fail 0, byte2: Fail type Set vacuum pump state
M80 16 00 2C 2 byte1-2:K(0=off,1=on) 2 byte1: Success 1/Fail 0, byte2: Fail type Laser on/off
M81 16 00 2D 2 byte1-2:S(0-255) 2 byte1: Success 1/Fail 0, byte2: Fail type Set PWM level (laser)
M82 16 00 2E 2 byte1-2:K(0=off,1=on) 2 byte1: Success 1/Fail 0, byte2: Fail type Custom PWM on/off
M83 16 00 2F 2 byte1-2:S(0-255) 2 byte1: Success 1/Fail 0, byte2: Fail type Set PWM level (custom)
M84 03 00 32 0 - 4 byte1:Laser state, byte2:Laser level, byte3:Custom PWM state, byte4:Custom PWM level Read PWM settings
M38 16 00 1B 10 byte1-2:J(0-1), byte3-4:K(0=forward,1=backward), byte5-8:L(50-500000), byte9-10:S(0=continuous,1-1200mm) 2 byte1: Success 1/Fail 0, byte2: Fail type Conveyor control
M39 16 00 35 0 - 2 byte1: Success 1/Fail 0, byte2: Fail type Conveyor stop

I2C Communication

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
M300 Write 16 00 36 N+6 byte1:I(0-255), byte2:U(0-255), byte3:L(0-125), byte4-5:H(0-65535), byte6:N(1-255), byte7-(6+N):K data 2 byte1: Success 1/Fail 0, byte2: Fail type I2C data write
M300 Read 03 00 37 6 byte1:I(0-255), byte2:U(0-255), byte3:L(0-125), byte4-5:H(0-65535), byte6:N(1-255) 1-255 byte1~N: Read data (hex) I2C data read

Status Query

Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
M52 03 00 38 0 - 1 byte1: Limit switch value Get limit switch status
Command (Reference Gcode) Function Code Register Address Data Length Data Format Response Length Response Format Description
M401 03 01 01 0 - 2 byte1-2: Screen version Read screen major/minor version
M402 03 01 02 0 - 2 byte1-2: Screen modify version Read screen modify version
M405 03 01 04 0 - 8 byte1-2:J1100, byte3-4:J2100, byte5-6:J3100, byte7-8:J4100 Read angles
M406 03 01 05 0 - 8 byte1-2:X100, byte3-4:Y100, byte5-6:Z100, byte7-8:R100 Read coordinates
M601 03 01 0A 0 - 2 byte1: 1=control page,0=non-control page, byte2: Fail type Get screen control page status
M602 16 01 0B 2 byte1-2:S(1=PC controlling,0=PC not controlling) 2 byte1: Success 1/Fail 0, byte2: Fail type Notify screen of PC control status

Auto Report

Event Function Code Register Address Data Length Data Format Response Length Response Format Description
Limit Error 16 00 30 - - 1 byte1: Error value(1=J1,2=J2,4=J3,8=J4,16=coupling) Auto-report when limit triggered
Collision Detection 16 00 31 - - 1 byte1: Collision joint(1=J1,2=J2,3=J3) Auto-report when collision detected

Error Messages

Error Status Bits (High Frequency Data Reading byte43-46, 32 bits total)

Bit Description Bit Description Bit Description
0 J1 joint limit 8 J1 encoder error 16 J1 driver overtemp
1 J2 joint limit 9 J2 encoder error 17 J2 driver overtemp
2 J3 joint limit 10 J3 encoder error 18 J3 driver overtemp
3 J4 joint limit 11 J4 encoder error 19 J4 driver overtemp
4 J1 joint collision 12 J1 joint disabled 20 Conveyor driver overtemp
5 J2 joint collision 13 J2 joint disabled 21 J2/J3 coupling
6 J3 joint collision 14 J3 joint disabled 22 No coordinate solution
7 J4 joint collision 15 J4 joint disabled 23~31 Reserved

Limit Error (LimitError)

Value Description
0 Normal
1 J1 joint limit
2 J2 joint limit
4 J3 joint limit
8 J4 joint limit
16 J2/J3 coupling

Collision Detection Error (CollisionDetectionError)

Value Description
1 J1 joint collision
2 J2 joint collision
3 J3 joint collision

No Coordinate Solution

Value Description
1 No solution (auto-report after moving to farthest reachable position)

Inverse/Forward Kinematics Errors

Error Code Description
ERROR:1 Joint limit
ERROR:2 Joint coupling
ERROR:3 No kinematic solution

FAQ

  1. Robot cannot move?

    • Check if robot is enabled (M22), check for motor errors (G8), check for joint limits
    • Execute M5 to unlock after collision

  2. No response to commands?

    • Check if XOR checksum is correct
    • Check if command format matches $Command*XX\r\n specification
    • Check if baud rate matches

  3. No coordinate solution?

    • Check if target coordinates are within robot workspace
    • Use M51 preview mode to verify reachability
    • Use joint control to move away from singularity

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