UFactory uArm Swift Pro Developer's Manual page 25

#n M2201 N0\n
#n M2202 N0\n
#n M2203 N0\n
#n M2210 F1000 T200\n
#n M2211 N0 A200 T1\n
#n M2212 N0 A200 T1
V10\n
#n M2213 V0\n
#n M2220 X100 Y100
Z100\n
#n M2221 B0 L50 R50\n
#n M2222 X100 Y100 Z100
P0\n
#n M2231 V1\n
#n M2232 V1\n
#n M2234 V1\n
#n M2240 N1 V1\n
#n M2241 N1 V1\n
attach motor, N is ID of
joints(0~3)
Detach motor, N is ID of
joints(0~3)
Check if the motor is attached,
N is ID of joints(0~3)
buzzer,F is frequency, T is time
(ms)
Read EEPROM N(0~2,0 is
internal EEPROM,1 is
USR_E2PROM, 2 is
SYS_E2PROM), A is address,
T is type (1 char,2 int,4 float)
Write EEPROM N(0~2,0 is
internal EEPROM,1 is
USR_E2PROM, 2 is
SYS_E2PROM), A is address,
T is type (1 char,2 int,4 float)V
is the input data
Default function of base
buttons (0 false, 1 true)
Convert coordinates to angle of
joints
Convert angle of joints to
coordinates
Check if it can reach,P1 polar,
P0 Cartesian coordinates
pump V1 working, V0 stop
gripper V1 close, V0 open
Enable/disable Bluetooth
(1:enable, 0:disable)
Set the digital IO output
Set the digital IO direction (V1
Output; V0 Input;)
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$n ok \n or $n Ex \n (refer to Err
output)
$n ok \n or $n Ex \n (refer to Err
output)
$n ok V1\n (1 attached,0
detached)
$n ok \n or $n Ex \n (refer to Err
output)
$n ok V10\n
$n ok\n
$n ok\n
$n ok B50 L50 R50\n (B joint
0,L joint 1,R joints 2, 0~180)
$n ok X100 Y100 Z100\n
$n ok V1\n (1 reachable, 0
unreachable)
$n ok \n or $n Ex \n (refer to Err
output)
$n ok \n or $n Ex \n (refer to Err
output)
$n ok\n
$n ok \n or $n Ex \n (refer to Err
output)
$n ok \n