User manual

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#n P2231\n Get the status of pump
$n ok V1\n (0 stop, 1 working, 2
grabbing things)
#n P2232\n Get the status of gripper
$n ok V1\n (0 stop, 1 working, 2
grabbing things)
#n P2233\n Get the status of limited switch
$n ok V1 (1 triggered, 0
untriggered)
#n P2234\n
Get the status of power
connection
$n ok V1 (1 connected, 0
unconnected)
#n P2240 N1\n Get the status of digital IO $n ok V1\n (1 High, 0 Low)
#n P2241 N1\n Get the status of analog IO
$n ok V295\n (return the data of
ADC)
#n P2242\n
Get the default value of
AS5600 in each joint
$n ok B2401 L344 R1048\n
#n P2400\n Check current status
$n ok V1\n (0: normal; 1: laser; 2:
3D printing; 3: Universal holder;)
Ticking feedback
@1 Ready
@3 Timed feedback , ”M2120”
@4 N0 V1\n
Report the button event.
N: 0 = Menu button, 1 = Play
button
V: 1 = Click, 2 = Long Press
@5 V1\n Report event of power
connection
@6 N0 V1\n Report event of limit switch in
end-effector
@7 temp error Temperature error in 3D
printing
@9 V0\n Stop movement
Err Output
E20 Command not exist
E21 Parameter error
E22 Address out of range
E23 Command buffer full
E24 Power unconnected