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specifications:protocol
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specifications:protocol [2015/10/12 04:55] Guvalif |
specifications:protocol [2021/04/01 13:51] |
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| - | < | ||
| - | Protocol | ||
| - | ======== | ||
| - | ## Basic Specification | ||
| - | In sending a command, firstly send header that defined as 3 characters. | ||
| - | Secondly formatting and send each argument. | ||
| - | |||
| - | Before sending a command, client must convert binary-expression to ascii-expression. | ||
| - | (If the client sending a command without conversion, PLEN's moving is different from you intended.) | ||
| - | |||
| - | No differences the command line made of upper case or lower case. | ||
| - | |||
| - | |||
| - | ## Group of Controller Command | ||
| - | ### $AN (Apply Native Value) | ||
| - | |||
| - | |Args | ||
| - | |: | ||
| - | |DEVICE_ID|Set a device id. |0 |23 |0 padding，hex，2byte| | ||
| - | |VALUE | ||
| - | |||
| - | *example*: | ||
| - | If you want to apply **1000** to device **10**, send command below. | ||
| - | |||
| - | ``` | ||
| - | $an0a3e8 | ||
| - | ``` | ||
| - | |||
| - | ### $AD (Apply Diff Value) | ||
| - | |||
| - | |Args | ||
| - | |: | ||
| - | |DEVICE_ID|Set a device id. |0 |23 |0 padding，hex，2byte| | ||
| - | |VALUE | ||
| - | |||
| - | *example*: | ||
| - | If you want to apply **home value - 100** to device **4**, send command below. | ||
| - | |||
| - | ``` | ||
| - | $ad04f9c | ||
| - | ``` | ||
| - | |||
| - | ### $PM (Play a Motion) | ||
| - | |||
| - | **Attention!** | ||
| - | You could also use " | ||
| - | |||
| - | |Args|Roles | ||
| - | |: | ||
| - | |SLOT|Set to read slot.|0 | ||
| - | |||
| - | *example*: | ||
| - | If you want to play slot **4**, send command below. | ||
| - | |||
| - | ``` | ||
| - | $pm04 | ||
| - | ``` | ||
| - | |||
| - | ### $SM (Stop a Motion) | ||
| - | |||
| - | **Attention!** | ||
| - | You could also use " | ||
| - | |||
| - | *example*: | ||
| - | If you want to stop a motion, send command below. | ||
| - | |||
| - | ``` | ||
| - | $sm | ||
| - | ``` | ||
| - | |||
| - | ### $HP (Apply Home Position) | ||
| - | |||
| - | *example*: | ||
| - | If you want to apply home position, send command below. | ||
| - | |||
| - | ``` | ||
| - | $hp | ||
| - | ``` | ||
| - | |||
| - | |||
| - | ## Group of Interpreter Command | ||
| - | ### #PU (Push a Function) | ||
| - | |||
| - | |Args |Roles | ||
| - | |: | ||
| - | |SLOT |Set to read slot. |0 |89 |0 padding，hex，2byte| | ||
| - | |LOOP_COUNT|Set number of play.|0 | ||
| - | |||
| - | *example*: | ||
| - | If you want to push function that plays slot **10** **three** times, send command below. | ||
| - | |||
| - | ``` | ||
| - | #pu0a03 | ||
| - | ``` | ||
| - | |||
| - | ### #PO (Pop a Function) | ||
| - | |||
| - | *example*: | ||
| - | If you want to pop a function, send command below. | ||
| - | |||
| - | ``` | ||
| - | #po | ||
| - | ``` | ||
| - | |||
| - | ### #RI (Reset the Interpreter) | ||
| - | |||
| - | *example*: | ||
| - | If you want to reset the interpreter, | ||
| - | |||
| - | ``` | ||
| - | #ri | ||
| - | ``` | ||
| - | |||
| - | |||
| - | ## Group of Setter Command | ||
| - | ### >IN (Install a Motion) | ||
| - | |||
| - | **Attention!** | ||
| - | This is **[[deprecated]]**. Obsolescent at firmware version 1.2.0. | ||
| - | Please using **>MH** and **>MF** that are described after basically. | ||
| - | |||
| - | |Args |Roles | ||
| - | |: | ||
| - | |SLOT |Set to write slot. | ||
| - | |NAME |Set a motion name. | ||
| - | |FUNC |Set a function. (*1) | ||
| - | |ARG0 |Set a function' | ||
| - | |ARG1 |Set a function' | ||
| - | |FRAME_LENGTH | ||
| - | |TRANSITION_TIME_MS|Set a transition time (msec).|32 | ||
| - | |VALUE[DEVICE_ID] | ||
| - | |||
| - | **(*1) Type of function and role of args are described below.** | ||
| - | |||
| - | |" | ||
| - | |: | ||
| - | |0 |--- | | ||
| - | |1 |Play a motion with infinite loop between arg 0 and arg 1.| | ||
| - | |2 |Jump to arg 0 if then stopped the motion. | ||
| - | |||
| - | **(*2) Sum of devices is 24 and all are servo motor.** | ||
| - | |||
| - | *example*: | ||
| - | Let install a motion below. | ||
| - | |||
| - | |Args |Values| | ||
| - | |: | ||
| - | |SLOT |0 | | ||
| - | |NAME |Test | | ||
| - | |FUNC |0 | | ||
| - | |ARG0 |0 | | ||
| - | |ARG1 |0 | | ||
| - | |FRAME_LENGTH | ||
| - | |TRANSITION_TIME_MS|100 | ||
| - | |OUTPUT[EVEN] | ||
| - | |OUTPUT[ODD] | ||
| - | |||
| - | Please send command below. (There are no CR, LF, or CRLF actually.) | ||
| - | |||
| - | ``` | ||
| - | >in | ||
| - | 00Test | ||
| - | 0064 | ||
| - | 0000ffff0000ffff0000ffff0000ffff | ||
| - | 0000ffff0000ffff0000ffff0000ffff | ||
| - | 0000ffff0000ffff0000ffff0000ffff | ||
| - | 0064 | ||
| - | 0000ffff0000ffff0000ffff0000ffff | ||
| - | 0000ffff0000ffff0000ffff0000ffff | ||
| - | 0000ffff0000ffff0000ffff0000ffff | ||
| - | ``` | ||
| - | |||
| - | ### >MH (Set a Motion Header) | ||
| - | |||
| - | |Args |Roles | ||
| - | |: | ||
| - | |SLOT |Set to write slot. |0 |89 |0 padding，hex，2byte | ||
| - | |NAME |Set a motion name. |--- |--- |white space padding，20byte| | ||
| - | |FUNC |Set a function. (*1) |0 |255 |0 padding，hex，2byte | ||
| - | |ARG0 |Set a function' | ||
| - | |ARG1 |Set a function' | ||
| - | |FRAME_LENGTH|Set a frame length | ||
| - | |||
| - | Please get more detail at "> | ||
| - | |||
| - | ### >MF (Set a Motion Frame) | ||
| - | |||
| - | |Args |Roles | ||
| - | |: | ||
| - | |SLOT |Set to write slot. | ||
| - | |FRAME_ID | ||
| - | |TRANSITION_TIME_MS|Set a transition time (msec).|32 | ||
| - | |VALUE[DEVICE_ID] | ||
| - | |||
| - | Please get more detail at "> | ||
| - | |||
| - | ### >JS (Reset the Joint Settings) | ||
| - | |||
| - | *example*: | ||
| - | If you want to reset the joint settings, send command below. | ||
| - | |||
| - | ``` | ||
| - | >js | ||
| - | ``` | ||
| - | |||
| - | ### >HO (Set a Home Value) | ||
| - | |||
| - | |Args | ||
| - | |: | ||
| - | |DEVICE_ID|Set a device id. |0 |23 |0 padding，hex，2byte| | ||
| - | |VALUE | ||
| - | |||
| - | *example*: | ||
| - | If you want to apply **100** as home value to device **0**, send command below. | ||
| - | |||
| - | ``` | ||
| - | >ho00064 | ||
| - | ``` | ||
| - | |||
| - | ### >MA (Set a Max Value) | ||
| - | |||
| - | |Args | ||
| - | |: | ||
| - | |DEVICE_ID|Set a device id. | ||
| - | |VALUE | ||
| - | |||
| - | *example*: | ||
| - | If you want to apply **100** as max value to device **0**, send command below. | ||
| - | |||
| - | ``` | ||
| - | >ma00064 | ||
| - | ``` | ||
| - | |||
| - | ### >MI (Set a Min Value) | ||
| - | |||
| - | |Args | ||
| - | |: | ||
| - | |DEVICE_ID|Set a device id. | ||
| - | |VALUE | ||
| - | |||
| - | *example*: | ||
| - | If you want to apply **-1** as min value to device **10**, send command below. | ||
| - | |||
| - | ``` | ||
| - | >mi0afff | ||
| - | ``` | ||
| - | |||
| - | ## Group of Getter Command | ||
| - | ### <JS (Dump the Joint Settings) | ||
| - | |||
| - | *example*: | ||
| - | If you want to dump the joint settings, send command below. | ||
| - | |||
| - | ``` | ||
| - | <js | ||
| - | ``` | ||
| - | |||
| - | At that time, outputting result like json below. | ||
| - | |||
| - | ``` | ||
| - | { | ||
| - | " | ||
| - | { | ||
| - | " | ||
| - | " | ||
| - | " | ||
| - | " | ||
| - | }, | ||
| - | ... | ||
| - | ] | ||
| - | } | ||
| - | ``` | ||
| - | |||
| - | ### <MO (Dump a Motion) | ||
| - | |||
| - | |Args|Roles | ||
| - | |: | ||
| - | |SLOT|Set to read slot.|0 | ||
| - | |||
| - | *example*: | ||
| - | If you want to dump slot **0**, send command below. | ||
| - | |||
| - | ``` | ||
| - | <mo00 | ||
| - | ``` | ||
| - | |||
| - | At that time, outputting result like " | ||
| - | However, property " | ||
| - | |||
| - | ### <VI (Dump the Version Information) | ||
| - | |||
| - | *example*: | ||
| - | If you want to dump the version information, | ||
| - | |||
| - | ``` | ||
| - | <vi | ||
| - | ``` | ||
| - | |||
| - | At that time, outputting result like json below. | ||
| - | |||
| - | ``` | ||
| - | { | ||
| - | " | ||
| - | " | ||
| - | " | ||
| - | } | ||
| - | ``` | ||
| - | </ | ||
specifications/protocol.txt · Last modified: 2021/04/01 13:51 (external edit)
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