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(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 command. (In the example
above, PC sends the command with ‘#25’ and uArm replies the command with’
$25’)
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