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kaifeng.guo
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320 Port transponder revise
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‎6-SDKDevelopment/6.1-CommunicationDoc.md

+47-46
Original file line numberDiff line numberDiff line change
@@ -436,7 +436,7 @@ temp = x_low + x_high*256
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437437
x coordinate =（temp\33000 ?(temp – 65536) : temp)/10
438438

439-
*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 100; if temp is less than 33000, then temp is divided by 100 directly.*
439+
*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 10; if temp is less than 33000, then temp is divided by 10 directly.*
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441441
*y coordinate is counted in a similar way.*
442442

@@ -586,7 +586,7 @@ Return value: data structure
586586
| ------- | -------------------- | --------- |
587587
| Data[0] | identification frame | 0XFE |
588588
| Data[1] | identification frame | 0XFE |
589-
| Data[2] | data-length frame | 0X02 |
589+
| Data[2] | data-length frame | 0X03 |
590590
| Data[3] | command frame | 0X27 |
591591
| Data[4] | suspend/not suspend | 0X01/0X00 |
592592
| Data[5] | end frame | 0XFA |
@@ -595,7 +595,7 @@ Example:
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596596
Given that program suspends,
597597

598-
port return value: FE FE 03 12 01 FA
598+
port return value: FE FE 03 27 01 FA
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600600
******
601601

@@ -606,13 +606,13 @@ port return value: FE FE 03 12 01 FA
606606
| Data[0] | identification frame | 0XFE |
607607
| Data[1] | identification frame | 0XFE |
608608
| Data[2] | data-length frame | 0X02 |
609-
| Data[3] | command frame | 0X27 |
609+
| Data[3] | command frame | 0X28 |
610610
| Data[4] | suspend/not suspend | 0X01/0X00 |
611611
| Data[5] | end frame | 0XFA |
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613613
Example:
614614

615-
Port transmission: FE FE 02 26 FA
615+
Port transmission: FE FE 02 28 FA
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no return value
618618

@@ -630,7 +630,7 @@ no return value
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631631
Example:
632632

633-
Port transmission: FE FE 02 26 FA
633+
Port transmission: FE FE 02 29 FA
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no return value
636636

@@ -700,7 +700,7 @@ Return Value: data structure
700700
| Data[0] | return value: head frame | 0XFE |
701701
| Data[1] | return value: head frame | 0XFE |
702702
| Data[2] | return value: data-length frame | 0X03 |
703-
| Data[3] | return value: command frame | 0X2a |
703+
| Data[3] | return value: command frame | 0X2A |
704704
| Data[4] | reaching the point/not reaching the point | 0X01/0X00 |
705705
| Data[5] | end frame | 0XFA |
706706

@@ -790,7 +790,7 @@ no return value.
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791791
Example:
792792

793-
Given that No.1 steering gear moves to 45° at the speed of 20
793+
Given that No.1 steering gear moves to 45° at the speed of 20%
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795795
port transmission: FE FE 06 31 01 11 94 14 FA
796796

@@ -825,7 +825,7 @@ Example:
825825

826826
Given that robotic arm moves towards x coordinate at the speed of 20
827827

828-
port transmission: FE FE 06 32 01 01 14 FA
828+
port transmission: FE FE 05 32 01 01 14 FA
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830830
axis ranges from 1 to 6, representing x, y, z,rx, ry, rz
831831

@@ -842,7 +842,7 @@ no return value
842842
| Data[0] | identification frame | 0XFE |
843843
| Data[1] | identification frame | 0XFE |
844844
| Data[2] | data-length frame | 0X06 |
845-
| Data[3] | command frame | 0X31 |
845+
| Data[3] | command frame | 0X33 |
846846
| Data[4] | serial number of steering gear | Joint |
847847
| Data[5] | highbyte of angle of steering gear | Angle_high |
848848
| Data[6] | lowbyte of angle of steering gear | Angle_low |
@@ -937,7 +937,7 @@ no return value
937937
| Data[4] | serial number of joint | joint |
938938
| Data[5] | end frame | 0XFA |
939939

940-
Example:
940+
Example:FE FE 03 3B 02 FA
941941

942942
get the potential of NO.2 steering gear
943943

@@ -1098,7 +1098,7 @@ Example:
10981098

10991099
Given that all robotic arms are set in zero position,
11001100

1101-
port return value: FE FE 0E 3D 08 00 08 00 08 00 08 00 08 00 08 00 FA
1101+
port return value: FE FE 0E 3D 00 00 00 00 00 00 00 00 00 00 00 00 FA
11021102

11031103
How potentials are counted:
11041104

@@ -1118,7 +1118,7 @@ potential = low status of potential + high status of potential * 256
11181118

11191119
Example:
11201120

1121-
Port transmission: FE FE 02 3D FA
1121+
Port transmission: FE FE 02 40 FA
11221122

11231123
Return value: data structure
11241124

@@ -1185,7 +1185,7 @@ Return value: data structure
11851185
| ------- | ---------------------------------- | ------------ |
11861186
| Data[0] | return value: identification frame | 0XFE |
11871187
| Data[1] | return value: identification frame | 0XFE |
1188-
| Data[2] | return value: data-length frame | 0X04 |
1188+
| Data[2] | return value: data-length frame | 0X05 |
11891189
| Data[3] | return value: command frame | 0X4A |
11901190
| Data[4] | serial number of joint | Joint_number |
11911191
| Data[5] | high angle of steering gear | Angle_high |
@@ -1231,7 +1231,7 @@ Return value: data structure
12311231
| ------- | ---------------------------------- | ------------ |
12321232
| Data[0] | return value: identification frame | 0XFE |
12331233
| Data[1] | return value: identification frame | 0XFE |
1234-
| Data[2] | return value: data-length frame | 0X04 |
1234+
| Data[2] | return value: data-length frame | 0X05 |
12351235
| Data[3] | return value: command frame | 0X4B |
12361236
| Data[4] | serial number of joint | Joint_number |
12371237
| Data[5] | high angle of steering gear | Angle_high |
@@ -1240,7 +1240,7 @@ Return value: data structure
12401240

12411241
Example:
12421242

1243-
port return value: FE FE 05 4B 02 06 72 FA
1243+
port return value: FE FE 05 4B 02 F9 F2 FA
12441244

12451245
How the largest angles are counted:
12461246

@@ -1271,7 +1271,7 @@ Given that the smallest angle of joint 2 is 0
12711271

12721272
Serial number of joint ranges from 1 to 6
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1274-
port return value: FE FE 03 41 32 FA
1274+
port return value: FE FE 03 4C 32 FA
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12761276
data type of angle1_high: byte
12771277

@@ -1306,7 +1306,7 @@ Given that the largest angle of joint 2 is 45
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13071307
Serial number of joint ranges from 1 to 6
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1309-
port return value: FE FE 03 41 32 FA
1309+
port return value: FE FE 03 4D 32 FA
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13111311
data type of angle1_high: byte
13121312

@@ -1316,7 +1316,7 @@ data type of angle1_low: byte
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13171317
counting method: angleis multiplied by 100 and converted into integral form to get the hexadecimal lowbyte
13181318

1319-
Port transmission: FE FE 05 4C 02 11 94 FA
1319+
Port transmission: FE FE 05 4D 02 11 94 FA
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13211321
no return value
13221322

@@ -1347,7 +1347,7 @@ Return value: data structure
13471347
| ------- | ---------------------------------- | ------------ |
13481348
| Data[0] | return value: identification frame | 0XFE |
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| Data[1] | return value: identification frame | 0XFE |
1350-
| Data[2] | return value: data-length frame | 0X03 |
1350+
| Data[2] | return value: data-length frame | 0X04 |
13511351
| Data[3] | command frame | 0X50 |
13521352
| Data[4] | serial number of joint | Joint_number |
13531353
| Data[5] | connected/not connected | 0X01/0X00 |
@@ -1408,7 +1408,7 @@ Example:
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14091409
Reading ratio parameter of P position of No.1 steering gear
14101410

1411-
Port transmission: FE FE 03 51 01 FA
1411+
Port transmission: FE FE 03 53 01 FA
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14131413
Serial number of joint ranges from 1 to 6
14141414

@@ -1435,21 +1435,22 @@ Return value: data structure
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14361436
### Setting Servo Parameters
14371437

1438-
| Domain | Explanation | Data |
1439-
| ------- | ---------------------- | -------- |
1440-
| Data[0] | identification frame | 0XFE |
1441-
| Data[1] | identification frame | 0XFE |
1442-
| Data[2] | data-length frame | 0X05 |
1443-
| Data[3] | command frame | 0X52 |
1444-
| Data[4] | serial number of joint | Joint_no |
1445-
| Data[5] | data address | data_id |
1446-
| Data[6] | end frame | 0XFA |
1438+
| Domain | Explanation | Data |
1439+
| ------- | :--------------------- | :------------------- |
1440+
| Data[0] | identification frame | 0XFE |
1441+
| Data[1] | identification frame | 0XFE |
1442+
| Data[2] | data-length frame | 0X05 |
1443+
| Data[3] | command frame | 0X52 |
1444+
| Data[4] | serial number of joint | Joint_no |
1445+
| Data[5] | data address | data_id |
1446+
| Data[6] | parameter | view the table below |
1447+
| Data[7] | end frame | 0XFA |
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14481449
Example:
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14501451
Reading ratio parameter of P position of No.1 steering gear
14511452

1452-
Port transmission: FE FE 05 52 01 15 01 FA
1453+
Port transmission: FE FE 04 52 01 15 01 FA
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Serial number of joint ranges from 1 to 6
14551456

@@ -1496,7 +1497,7 @@ no return value
14961497
| ------- | ---------------------- | -------- |
14971498
| Data[0] | identification frame | 0XFE |
14981499
| Data[1] | identification frame | 0XFE |
1499-
| Data[2] | data-length frame | 0X02 |
1500+
| Data[2] | data-length frame | 0X03 |
15001501
| Data[3] | command frame | 0X55 |
15011502
| Data[4] | serial number of joint | Joint_no |
15021503
| Data[5] | end frame | 0XFA |
@@ -1611,8 +1612,8 @@ no return value
16111612
| ------- | -------------------- | ------ |
16121613
| Data[0] | identification frame | 0XFE |
16131614
| Data[1] | identification frame | 0XFE |
1614-
| Data[2] | data-length frame | 0X04 |
1615-
| Data[3] | command frame | 0X61 |
1615+
| Data[2] | data-length frame | 0X03 |
1616+
| Data[3] | command frame | 0X62 |
16161617
| Data[4] | serial number of pin | pin_no |
16171618
| Data[5] | end frame | 0XFA |
16181619

@@ -1628,8 +1629,8 @@ Return value: data structure
16281629
| ------- | ---------------------------------- | --------- |
16291630
| Data[0] | return value: identification frame | 0XFE |
16301631
| Data[1] | return value: identification frame | 0XFE |
1631-
| Data[2] | return value: data-length frame | 0X03 |
1632-
| Data[3] | return value: command frame | 0X53 |
1632+
| Data[2] | return value: data-length frame | 0X04 |
1633+
| Data[3] | return value: command frame | 0X62 |
16331634
| Data[4] | pin number | pin_no |
16341635
| Data[5] | signal of electrical level | 0X00/0X01 |
16351636
| Data[6] | end frame | 0XFA |
@@ -1715,7 +1716,7 @@ no return value
17151716

17161717
Example:
17171718

1718-
Given that gripper opens by 50% at the speed of 30
1719+
Given that gripper opens by 50% at the speed of 20
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17201721
Port transmission: FE FE 04 67 32 14 FA
17211722

@@ -1759,7 +1760,7 @@ Return value: data structure
17591760
| ------- | -------------------- | ----- |
17601761
| Data[0] | identification frame | 0XFE |
17611762
| Data[1] | identification frame | 0XFE |
1762-
| Data[2] | data-length frame | 0X04 |
1763+
| Data[2] | data-length frame | 0X03 |
17631764
| Data[3] | command frame | 0X69 |
17641765
| Data[4] | stop/move | 00/01 |
17651766
| Data[6] | end frame | 0XFA |
@@ -1800,7 +1801,7 @@ no return value
18001801
| Data[0] | identification frame | 0XFE |
18011802
| Data[1] | identification frame | 0XFE |
18021803
| Data[2] | data-length frame | 0X04 |
1803-
| Data[3] | command frame | 0Xa0 |
1804+
| Data[3] | command frame | 0XA0 |
18041805
| Data[4] | pin number | Pin_no |
18051806
| Data[5] | signal of electrical level | 0X00/0X01 |
18061807
| Data[4] | end frame | 0XFA |
@@ -1809,7 +1810,7 @@ Example:
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18101811
Setting high electrical level of pin 2
18111812

1812-
Port transmission: FE FE 02 a0 02 01 FA
1813+
Port transmission: FE FE 04 A0 02 01 FA
18131814

18141815
******
18151816

@@ -1824,7 +1825,7 @@ Port transmission: FE FE 02 a0 02 01 FA
18241825
| Data[4] | pin number | Pin_no |
18251826
| Data[4] | end frame | 0XFA |
18261827

1827-
Port transmission: FE FE 02 a0 02 01 FA
1828+
Port transmission: FE FE 04 a1 02 01 FA
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18291830
Return value: data structure
18301831

@@ -1938,7 +1939,7 @@ no return value
19381939

19391940
Example:
19401941

1941-
Port transmission: FE FE 04 b2 1b 58 FA
1942+
Port transmission: FE FE 02 82 FA
19421943

19431944
Return value: data structure
19441945

@@ -1947,7 +1948,7 @@ Return value: data structure
19471948
| Data[0] | identification frame | 0XFE |
19481949
| Data[1] | identification frame | 0XFE |
19491950
| Data[2] | data-length frame | 0X0E |
1950-
| Data[3] | command frame | 0X81 |
1951+
| Data[3] | command frame | 0X82 |
19511952
| Data[4] | specify high status of x coordinate | x_high |
19521953
| Data[5] | specify low status of x coordinate | x_low |
19531954
| Data[6] | specify high status of y coordinate | y_high |
@@ -1970,7 +1971,7 @@ temp = x_low + x_high*256
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19711972
x coordinate =（temp\33000 ?(temp – 65536) : temp)/10
19721973

1973-
*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 100; if temp is less than 33000, then temp is divided by 100 directly.*
1974+
*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 10; if temp is less than 33000, then temp is divided by 10 directly.*
19741975

19751976
*y coordinate is counted in a similar way.*
19761977

@@ -2016,7 +2017,7 @@ temp = x_low + x_high*256
20162017

20172018
x coordinate =（temp\33000 ?(temp – 65536) : temp)/10
20182019

2019-
*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 100; if temp is less than 33000, then temp is divided by 100 directly.*
2020+
*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 10; if temp is less than 33000, then temp is divided by 10 directly.*
20202021

20212022
*y coordinate is counted in a similar way.*
20222023

@@ -2132,7 +2133,7 @@ Return value: data structure
21322133

21332134
Example:
21342135

2135-
port return value: FE FE 03 86 01 FA
2136+
port return value: FE FE 03 8A 01 FA
21362137

21372138
## Appendix
21382139

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