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#n M2201 N0\n
attach motor, N is ID of
joints(0~3)
$n ok \n or $n Ex \n (refer to Err
output)
#n M2202 N0\n
Detach motor, N is ID of
joints(0~3)
$n ok \n or $n Ex \n (refer to Err
output)
#n M2203 N0\n
Check if the motor is attached,
N is ID of joints(0~3)
$n ok V1\n (1 attached,0
detached)
#n M2210 F1000 T200\n
buzzer,F is frequency, T is time
(ms)
$n ok \n or $n Ex \n (refer to Err
output)
#n M2211 N0 A200 T1\n
Read EEPROM N(0~2,0 is
internal EEPROM,1 is
USR_E2PROM, 2 is
SYS_E2PROM), A is address,
T is type (1 char,2 int,4 float)
$n ok V10\n
#n M2212 N0 A200 T1
V10\n
Write EEPROM N(0~2,0 is
internal EEPROM,1 is
USR_E2PROM, 2 is
SYS_E2PROM), A is address,
T is type (1 char,2 int,4 float)V
is the input data
$n ok\n
#n M2213 V0\n
Default function of base
buttons (0 false, 1 true)
$n ok\n
#n M2220 X100 Y100
Z100\n
Convert coordinates to angle of
joints
$n ok B50 L50 R50\n (B joint
0,L joint 1,R joints 2, 0~180)
#n M2221 B0 L50 R50\n
Convert angle of joints to
coordinates
$n ok X100 Y100 Z100\n
#n M2222 X100 Y100 Z100
P0\n
Check if it can reach,P1 polar,
P0 Cartesian coordinates
$n ok V1\n (1 reachable, 0
unreachable)
#n M2231 V1\n
pump V1 working, V0 stop
$n ok \n or $n Ex \n (refer to Err
output)
#n M2232 V1\n
gripper V1 close, V0 open
$n ok \n or $n Ex \n (refer to Err
output)
#n M2234 V1\n
Enable/disable Bluetooth
(1:enable, 0:disable)
$n ok\n
#n M2240 N1 V1\n
Set the digital IO output
$n ok \n or $n Ex \n (refer to Err
output)
#n M2241 N1 V1\n
Set the digital IO direction (V1
Output; V0 Input;)
$n ok \n