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.
Baud rate: 115200
Data bits: 8
Stop bits: 1
Flow control: None
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.
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
Under straight line mode, command
G1 are to execute straight line mode.
Move the Arm to a target position, control the Arm moving speed and acceleration.
G92 X0 Y0 Z0 set the current position as working height.
G92.1 reset the working height.
M891 Xn Yn
M894 Xn Yn Zn
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
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
Connect the touchscreen to DexArm after sending the following commands:
M2003 in sequence to enter bootloader mode.
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 p
osition 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