Introduction

📅Update: 2020/09/04
DexArm is developed based on the world's leading open-source project Marlin, the DexArm firmware is completely open-source, and its control commands (G-code) are compatible with Marlin. Please visit GitHub for more details of our firmware project. 
G-code commands are the general control commands for CNC machines, 3D printers, etc. It is composed of ASCII strings, such as G1 F2000 X0 Y300 Z0, G-code commands usually uses \n as the sending end character.
In Marlin, the slave device will reply ok after receiving the G-code commands, the host computer then can send the next commands after receiving the ok. In DexArm SDK (pydexarm - download below👇), we have encapsulated this sending and receiving mechanism and make it convenient for users to use.
pydexarm_V1.0.zip
7KB
Binary
DexArm Python SDK V1.0
Communication Parameters
Baud rate: 115200
Data bits: 8
Stop bits: 1
Parity: None
Flow control: None
Initialization
After the host computer is connected to the robot arm, please send the command  M1112  first to move the arm to the HOME (X0 Y300 Z0) position.
Basic Motion Control Commands
Motion Mode
Fast Mode
The default motion mode is fast mode. Under fast motion mode, command G0 is to execute fast mode, command G1 is to execute straight line mode 
M2001
Straight Line Mode
Under straight line mode, command G0 and G1 are to execute straight line mode. 
M2000
Basic Motion commands
Move the Arm to a target position, control the Arm moving speed and acceleration. 
Related commands: G000_G001 G002_G003 M201 M203 M204;
Stop command 
Related command: G004​
Set working height  
G92 X0 Y0 Z0 set the current position as working height. 
G92.1 reset the working height. 
[Marlin] G092 - Set Position
Leveling related commands
Set leveling coefficient
M891 Xn Yn
Read leveling coefficient
M891
Magnet encoder related commands
Read current encoder position data
M893
Move to a specific encoder value position
M894 Xn Yn Zn
End effector control commands
Pneumatic module control commands
M1000 - air pump box to pump in
M1001 - air pump box to pump out
M1002 - air pump box to release air
To return to original status when the suction cup/soft gripper is not working.
M1003 - stop air pump box
Laser engraving module control commands
Related control commands M003 M005 
3D printing control commands
​M104​
​M105​
​M108​
​M106​
​M107​
​M109 ​
Accessory control commands
Conveyor belt control commands
set conveyor belt working speed as 2000mm/min, clockwise
M2012 F2000 D0
set conveyor belt working speed as 2000mm/min, counter-clockwise
M2012 F2000 D1
stop conveyor belt
M2013
Reset the touchscreen firmware
Connect the touchscreen to DexArm after sending the following commands:
M5010000
Reset DexArm Settings
Reboot DexArm and enter bootloader
Send commands M2002, M2003 in sequence to enter bootloader mode.
Reboot DexArm commands
M2007
Re-calibrate the initial position
The DexArm HOME position and motion coordinates are based on the initial position. The initial position has been calibrated before leaving the factory. If there is an error in the arm movement, please re-calibrate the initial position according to the following instruction:
1. Adjust the arm to the following position, make sure Axis 1 and Axis 2 is in the maximum position:
2. Send command M889
Advanced commands
[Marlin] G020 - Inch Units
[Marlin] G021 - Millimeter Units
[Marlin] M906 - TMC Motor Current
[Marlin] M500 - Save Settings
[Marlin] M501 - Restore Settings
[Marlin] M502 - Factory Reset
[Marlin] M503 - Report Settings
[Marlin] M082 - E Absolute
[Marlin] M083 - E Relative
[Marlin] M092 - Set Axis Steps-per-unit
[Marlin] M200 - Set Filament Diameter
[Marlin] M400 - Finish Moves
[Marlin] M410 - Quickstop
[Marlin] M504 - Validate EEPROM contents

Safety enclosure wiring changes

Next - ⌨API(G-code)

Marlin Original Commands

Last modified 1yr ago