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@ -76,13 +76,13 @@ set_workspace_transform(transform)
get_workspace_transform() get_workspace_transform()
home(axis_list=None) home(axis_list=None)
calibrate_joint(joint_index, save_result) calibrate_joint(joint_index, save_result)
move_to(x, y, z, f, move_immediately=False, blocking=True, timeout=1) move_to(x, y, z, f, move_immediately, blocking, timeout)
dwell(time_s, blocking, timeout=1)
set_max_acceleration(linear_accel, angular_accel)
wait_for_stop(polling_interval_ms=10, disable_callbacks=True)
set_servo_parameter(pos_kp=150, pos_ki=50000, vel_kp=0.2, vel_ki=100, vel_filter_tc=0.0025)
enable_motors(enable)
set_pose(x, y, z) set_pose(x, y, z)
dwell(time_s, blocking, timeout)
enable_motors(enable)
wait_for_stop(polling_interval_ms, disable_callbacks)
set_max_acceleration(linear_accel, angular_accel)
set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
``` ```
## ⚙ CAD-Files ## ⚙ CAD-Files
@ -143,16 +143,25 @@ Each command is acknowledged with either an **`ok`** or **`error`** response.
If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message. If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message.
The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined. The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined.
| Command | Description | | Command | Description |
|----------------|-----------------------------------------------------------------------------| |----------------|-----------------------------------------------------------------------------|
| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br> • `X`: target position on X-axis <br> • `Y`: target position on Y-axis <br> • `Z`: target position on Z-axis <br> • `F`: feed rate (movement speed) | | `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br>• `X`, `Y`, `Z`: target positions <br>• `F`: feed rate |
| `G1 X Y Z F` | Same as `G0`. | | `G1 X Y Z F` | Same as `G0`. |
| `M204 L A` | Set current acceleration. <br> • `L`: linear acceleration (m/s²) <br> • `A`: angular acceleration (rad/s²) | | `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |
| `M50` | Get current actuator pose (position). | | `G24 X Y Z A B C` | Directly set current pose for servo loops. Optional rotation with `A`, `B`, `C`. |
| `M51` | Get motion controller and servo loop update frequency. | | `G28 A-F` | Home one or more joints. <br>• Optional joint selection `A`–`F`. |
| `M17` | Enable motors and read current pose as the start pose. |
| `M18` | Disable motors. |
| `M50` | Get current internal position (X, Y, Z). |
| `M51` | Get current encoder angles (in degrees) and raw encoder values. |
| `M52` | Get the number of items in the planner queue. | | `M52` | Get the number of items in the planner queue. |
| `M53` | Check if all moves are finished. Returns `1` if finished, `0` otherwise. | | `M53` | Check if all planned moves are finished (`1` = finished, `0` = not finished). |
| `M55 A B C D F` | Set servo loop parameters. <br>• `A`, `B`: position PI controller gains (P and I) <br>• `C`, `D`: velocity PI controller gains (P and I) <br>• `F`: velocity filter time constant |
| `M56 J S` | Calibrate a joint. <br>• `J`: joint index <br>• `S`: save calibration result |
| `M57` | Get device and servo loop info: homing/calibration state, angles, loop frequencies, and file list. |
| `M58` | Get firmware version. |
| `M204 L A` | Set linear and angular acceleration. <br>• `L`: linear acceleration <br>• `A`: angular acceleration |
## Youtube Video ## Youtube Video
[![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw) [![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)