UFactory uArm Swift Pro - Page 30

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# n G2205 S 10 R 10 H 10
F 1000 \n
Polar coordinates for relative
displacement
$ n ok \n or $ n E x \n (refer to
Err output)
Setting Command (parameters are in underline)
# n M17\n
Attach all the joint motors
$ n ok \n
#n M204 P200 T200
R200\n
Set accelerations and save
P = Printing moves
R = Extruder only (no X, Y, Z)
moves
T =Hot End Travel (non
printing) moves
$ n ok \n
# n M2019\n
Detach all the joint motors
$ n ok \n
# n M2120 V 0.2 \n
Set time cycle of feedback,
return Cartesian coordinates,
V is time(seconds)
@3 X 154.71 Y 194.91 Z 10.21 \n
# n M2122 V 1 \n
Report (@9 V0) when stop.
V1: Enable
V0: Disable
$ n ok \n
# n M2201 N 0 \n
attach motor, N is ID of
joints(0~3)
$ n ok \n or $ n E x \n (refer to
Err output)
# n M2202 N 0 \n
Detach motor, N is ID of
joints(0~3)
$ n ok \n or $ n E x \n (refer to
Err output)
# n M2203 N 0 \n
Check if the motor is
attached, N is ID of
joints(0~3)
$ n ok V 1 \n (1 attached,0
detached)
# n M2210 F 1000 T 200 \n
buzzer,F is frequency, T is
time (ms)
$ n ok \n or $ n E x \n (refer to
Err output)