Guide

23
Protocol
1.Introduction
• uArm Gcode is an important part of the uArm software.
• Based on the standard gCode protocol, we add a new protocol head in front of the Gcode so that it can be
more easily to use and debug.
• What’s more, it is designed to be compatible with the standard Gcode. (We offer the code of decode the
standard Gcode)
2.Example
• Sending command from PC
“#25 G0 X180 Y0 Z150 F5000”
//move to [180,0,150] with the speed 5000mm/min
• Reply from uArm “$25 ok”
3.Commands(TBD)·
Command can be divided into two parts:
Command with underline: it’s the new added protocol head.
• The command from PC starts with ‘#’, while the command from uArm starts with’$’.
• And the data following the symbol decided by the PC, and the reply from the uArm should have the same
data which indicates it finish the command. (In the example above, PC sends the command with ‘#25’ and
uArm replies the command with’$25’)
Command without the underline: it’s the standard Gcode.
Caution :
1.There should be blank space between each parameter;
2.The letters in the command should be capitalized;