UFactory uArm Swift, Быстрый стартовый руководство, Страница: 18 / 20

18
GCodeCommand Description Feedback
1. # n is used for the debug, if you don’t want to use it please remove it directly.
(For Example: G2202 N 0 V 90 \n)
2. ‘\n’ is the symbol of line feed.
Moving Command (parameters are in underline)
#
n
G0 X
100
Y
100
Z
100
F
1000
\n
Move to XYZ(mm), F is
speed(mm/min)
$
n
OK \n or $
n
E
x
\n (refer to Err output)
# n G2201 S 100 R 90 H 80
F
1000
\n
Polar coordinates,S is stretch(mm),
R is rotation(degree),H is
height(mm), F is speed(mm/min)
$
n
OK \n or $
n
E
x
\n (refer to Err output)
#
n
G2202 N
0
V
90
\n
Move the motorto the position ,Nis
ID of joints(0~3),V is angle(0~180)
$
n
OK \n or $
n
E
x
\n (refer to Err output)
# n G2204 X 10 Y 10 Z 10 F 1000 \n Relative displacement $ n OK \n or $ n E x \n (refer to Err output)
#
n
G2205 S
10
R
10
H
10
F
1000
\n
Polar coordinates for relative
displacement
$
n
OK \n or $
n
E
x
\n (refer to Err output)
Setting Command (parameters are in underline)
#
n
M17\n Attach all the joint motors $
n
OK \n
# n M2019\n Detach all the joint motors $ n OK \n
#
n
M2120 V
0.2
\n
Set time cycle of feedback, return
Cartesian coordinates, V is
time(seconds)
@3 X
154.714
Y
194.915
Z
10.217
\n
#
n
M2200\n Check if uArm is moving $
n
OK V
1
\n (1moving,0 stop)
# n M2201 N 0 \n attach motor, Nis ID of joints(0~3) $ n OK \n or $ n E x \n (refer to Err output)
#
n
M2202 N
0
\n Detach motor, Nis ID of joints(0~3) $
n
OK \n or $
n
E
x
\n (refer to Err output)
# n M2203 N 0 \n
Check if the motor is attached, Nis
ID of joints(0~3)
$ n OK V 1 \n (1 attached,0 detached)
#
n
M2210 F
1000
T
200
\n buzzer,F is frequency, Tis time (ms) $
n
OK \n or $
n
E
x
\n (refer to Err output)
#
n
M2211 N 0 A 200 T 1 \n
Read EEPROM N(0~2,0 is internal
EEPROM,1 is USR_E2PROM, 2 is
SYS_E2PROM), Ais address, T is type
(1 char,2 int,4 float)
$
n
OK V 10 \n
#
n
M2212 N 0 A 200 T 1 V 10 \n
Write EEPROM N(0~2,0 is internal
EEPROM,1 is USR_E2PROM, 2 is
SYS_E2PROM), Ais address, T is type
(1 char,2 int,4 float)V is the input data
$
n
OK\n
# n
M2213 V 0 \n
Default function of base buttons (0
$
n
OK\n