77
Register：45 (0x2D)⸺Check the limit of the joint space
Required parameters
Length：28 bytes
parameter1(fp32*7)：the angle of 1~6 joints, unit: rad
Length：1 byte
parameter1(u8)：search result
1 ：collision occurs
0 ：no collision
Reply parameters
is_joint_limit()
xArm-Python-SDK
interface
xArm-Python-SDK
interface
Register：47 (0x2F)⸺ Acquire the current joint torque of the servo
Required parameters
none
Reply parameters
Length：28 bytes
parameter1(fp32*7): The moment of joints 1~6,unit ：N.m
xArm-Python-SDK
interface
move_gohome()
Register：105 (0x69)⸺Set the current robotic arm joint position as '0'
Required parameters
Length：1 byte
parameter1：Selective servo joint
1~6 ：motor joint (1~6)
8： act on all joints
Reply parameters
none
101~115 Servo Module