Guide

27
#n P2206 N0\n
Get the angle of number 0 joint
(0~2)
$n ok V80\n
#n P2220\n
Get current coordinates
$n ok X100 Y100 Z100\n
#n P2221\n
Get current polar coordinates
$n ok S100 R90 H80\n
#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