For Developers; Library; Communication Protocol - UFactory uArm Swift Quick Starter Manual

For Developers

1.Library

uArm Swift - Arduino Library

2.Communication Protocol

1) Introduction:
• uArm 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 "$25 OK"
3) Commands
Command can be divided into two parts:
1. Command with underline: it's the new added protocol head. The command from PC starts with '#', while
the command from uArm starts with'$'. 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 command. (In the example above, PC
sends the command with '#25' and uArm replies the command with '$25')
2.Command without the underline: it's the standard gCode.
Caution:
1.There should be blank space between each parameter.
2.The letters in the command should be capitalized.
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