UFactory uArm Swift Quick Starter Manual page 19

n 100 100 100
# M2220 X Y Z
n 0 50 50
# M2221 B L R \n
n 100 100 100
# M2222 X Y Z
0
P \n
n 1
# M2231 V \n
n 1
# M2232 V \n
# n M2234 V 1 \n
n 1 1
# M2240 N V \n
btname
M2245 V \n
n
# P2200\n
n
#
P2201\n
n
#
P2202\n
n
#
P2203\n
n
#
P2204\n
n
#
P2205\n
n
# P2206 N0\n
# n
P2220\n
# n
P2221\n
n
#
P2231\n
# n
P2232\n
n
#
P2233\n
n
#
P2234\n
n
#
P2240 N1\n
false, 1 true)
Convert coordinates to angle of
\n
joints
Convert angle of joints to
coordinates
Check if it can
reach,P1polar,P0Cartesian
coordinates
pump V1working, V0stop
gripper V1close, V0open
Enable/disable Bluetooth (1:enable,
0:disable)
Set the digital IO output
Set the name of Bluetooth, 11
letters limited (Do not add #
this command)
Querying Command(parameters are in underline)
Get the current angle of joints
Get the device name
Get the hardware version
Get the software version
Get the API version
Get the UID
Get the angle of number 0 joint (0~2)
Get current coordinates
Get current polar coordinates
Get the status of pump
Get the status of gripper
Get the status of limited switch
Get the status of power connection
Get the status of digital IO
n
$ OK B
1,R joints 2, 0~180)
n
$ OK X
n
$ OK V
unreachable)
n
$ OK \nor$
n
$ OK \nor$
n
$ OK\n
n
$ OK \nor$
n
in OK \n
n
$ OK B
n
$ OK V3.2\n
n
$ OK V1.2\n
n
$ OK V3.2\n
n
$ OK V3.2\n
n
$ OK V0123456789AB\n
$n OK V80\n
n
$ OK X100 Y100 Z100\n
n
$ OK S100 R90 H80\n
n
$ OK V1\n (0 stop, 1 working, 2 grabbing
things)
n
$ OK V1\n (0 stop, 1 working, 2 grabbing
things)
n
$ OK V1(1 triggered, 0untriggered)
n
$ OK V1(1 connected, 0 unconnected)
n
$ OK V1\n (1 High, 0 Low)
19
50 50 50
L R \n (Bjoint 0,Ljoint
100 100 100
Y Z \n
1
\n (1 reachable,0
n x
E \n(refer to Err output)
n x
E \n(refer to Err output)
n x
E \n(refer to Err output)
50 50 50
L R \n