Protocol; Introduction; Example; Commands(Tbd) - UFactory uArm Swift Pro Developer's Manual

Protocol

1.Introduction

u
Arm Gcode is an important part of the uArm software.
•
• Based on the standard gCode protocol, we add a new protocol head in
front of the gCode so that it can be more easily to use and debug.
• What's more, it is designed to be compatible with the standard gCode. (We
offer the code of decode the standard gCode)

2.Example

• Sending command from PC
"#25 G0 X180 Y0 Z150 F5000"
//move to [180,0,150] with the speed 5000mm/min
• Reply from uArm "$25 ok"
3.Commands(TBD)·
Command can be divided into two parts:
Command with underline: it's the new added protocol head.
• The command from PC starts with '#', while the command from uArm
starts with'$'.
• And the data following the symbol decided by the PC, and the reply from
the uArm should have the same data which indicates it finish the
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