UFactory uArm Swift Pro Developer's Manual page 31

Infrared
19 Reflective
Sensor
20 EMG Detector
21 OLED 12864
d. Different modes for uArm Swift Pro
Since different types of the end-effectors have different length and height, so we designed the command
M2400, which could help us to fit the uArm into different situations easily. With this command, there is no
need to concern about how to adjust the parameters for different situations.
Currently we offer 4 kinds of mode:
M2400 S0 : Normal mode (end-effector tools: suction)
M2400 S1 : Laser mode (end-effector tools: laser)
M2400 S2 : 3D printing mode (end-effector tools: hot end)
M2400 S3 : Universal holder mode (end-effector tools: universal holder)
For the gripper, there is no special mode since gripper has the fingers and can rotate horizontally.
#n M2304 P3\n
#n M2305 P3 N19\n
#n M2306 P3 V1000\n
#n M2304 P1\n
#n M2305 P1 N20\n
#n M2306 P1 V1000\n
#n M2304 P0\n
#n M2305 P0 N21\n
#n M2307 P0 M0\n
#n M2307 P0\n
Deinit
Init Module 19 in Port 3
Set report interval (ms)
Deinit
Init Module 20 in Port 1
Set report interval (ms)
Deinit
Init Module 21 in Port 0
Set display mode
0: 16X8
1: 32X16
2: 64X32
Clear screen
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3, 4, 5,
$n ok \n
8, 9
3, 4, 5,
$n ok \n
8, 9
@11 P3 N19 V1\n
3, 4, 5, 1: object detected
8, 9
0: no
detected
1, 2, 13
$n ok \n
1, 2, 13
$n ok \n
@11 P1
1, 2, 13
V583\n
0 $n ok \n
0 $n ok \n
0 $n ok \n
0 $n ok \n
object
N20