MyPalletizerCommunicateDefine.h

#ifndef MYOARTNER_COMMUNICATEDEFINE_H
#define MYOARTNER_COMMUNICATEDEFINE_H


// System Infor
#define GET_ROBOT_VERSION            0X01
#define GET_ROBOT_VERSION_LEN        2
#define GET_ROBOT_VERSION_RETURN_LEN    3

#define GET_SYSTEM_VERSION            0X02
#define GET_SYSTEM_VERSION_LEN        2
#define GET_SYSTEM_VERSION_RETURN_LEN    3

#define GET_ROBOT_ID                0X03
#define GET_ROBOT_ID_LEN            2
#define GET_ROBOT_ID_RETURN_LEN        3

#define SET_ROBOT_ID                0X04
#define SET_ROBOT_ID_LEN            0


// Overall Status
#define POWER_ON                    0x10
#define POWER_ON_LEN                2

#define POWER_OFF                    0x11
#define POWER_OFF_LEN                2

#define IS_POWERED_ON                0x12
#define IS_POWERED_ON_LEN            2
#define IS_POWERED_ON_RETURN_LEN    3

#define RELEASE_ALL_SERVOS          0x13
#define RELEASE_ALL_SERVOS_LEN      2

#define IS_CONTROLLER_CONNECTED        0x14
#define IS_CONTROLLER_CONNECTED_LEN    2
#define IS_CONTROLLER_CONNECTED_RETURN_LEN    3

#define READ_NEXT_ERROR                0x15
//#define READ_NEXT_ERROR_LEN
#define SET_FREE_MOVE_MODE           0x1A
#define SET_FREE_MOVE_MODE_LEN       3

#define IS_FREE_MOVE_MODE            0x1B
#define IS_FREE_MOVE_MODE_LEN        2
#define IS_FREE_MOVE_MODE_RETURN_LEN 3

// MDI mode and operation
#define GET_ANGLES                    0x20
#define GET_ANGLES_LEN                2
#define GET_ANGLES_RETURN_LEN        14

#define WRITE_ANGLE                    0x21
#define WRITE_ANGLE_LEN                6

#define WRITE_ANGLES                0x22
#define WRITE_ANDLES_LEN            11

#define GET_COORDS                    0x23
#define GET_COORDS_LEN                2
#define GET_COORDS_RETURN_LEN        14

#define WRITE_COORD                    0x24
#define WRITE_COORD_LEN                6

#define WRITE_COORDS                0x25
#define WRITE_COORDS_LEN            12

#define PROGRAM_PAUSE                0x26
#define PROGRAM_PAUSE_LEN            2

#define IS_PROGRAM_PAUSED            0x27
#define IS_PROGRAM_PAUSED_LEN        2

#define PROGRAM_RESUME                0x28
#define PROGRAM_RESUME_LEN            2

#define TASK_STOP                    0x29
#define TASK_STOP_LEN                2

#define IS_IN_POSITION                0x2A
#define IS_IN_POSITION_LEN            15
#define IS_IN_POSITION_RETURN_LEN    3

#define CHECK_RUNNING                0x2B
#define CHECK_RUNNING_LEN            2
#define CHECK_RUNNING_RETURN_LEN    3

// JOG mode and operation
#define JOG_ANGLE                    0x30
#define JOG_ANGLE_LEN                5

#define JOG_ABSOLUTE                0x31
//#define JOG_ABSOLUTE_LEN

#define JOG_COORD                    0x32
#define JOG_COORD_LEN                5

#define SEND_JOG_INCREMENT            0x33
//#define SEND_JOG_INCREMENT_LEN

#define JOG_STOP                    0x34
#define JOG_STOP_LEN                2

#define SET_ENCODER                    0x3A
#define SET_ENCODER_LEN                5

#define GET_ENCODER                    0x3B
#define GET_ENCODER_LEN                3
#define GET_ENCODER_RETURN_LEN        4

#define SET_ENCODERS                0x3C
#define SET_ENCODERS_LEN            11

#define GET_ENCODERS                 0x3D
#define GET_ENCODERS_LEN             2
#define GET_ENCODES_RETURN_LEN       14



// Running Status and Settings
#define GET_SPEED                    0x40
#define GET_SPEED_LEN                2
#define GET_SPEED_RETURN_LEN        3

#define SET_SPEED                    0x41
#define SET_SPEED_LEN                3

#define GET_FEED_OVERRIDE            0x42
#define GET_FEED_OVERRIDE_LEN        2
#define GET_FEED_OVERRIDE_RETURN_LEN 4

#define SEND_OVERRIDE                0x43
#define SEND_OVERRIDE_LEN            4

#define GET_ACCELERATION            0x44
#define GET_ACCELERATION_LEN        2
#define GET_ACCELERATION_RETURN_LEN        4

#define SET_ACCELERATION            0x45
#define SET_ACCELERATION_LEN        4

#define GET_JOINT_MIN                0x4A
#define GET_JOINT_MIN_LEN            3
#define GET_JOINT_MIN_RETURN_LEN    4

#define GET_JOINT_MAX                0x4B
#define GET_JOINT_MAX_LEN            3
#define GET_JOINT_MAX_RETURN_LEN    4

#define SET_JOINT_MIN                0x4C
#define SET_JOINT_MIN_LEN            5

#define SET_JOINT_MAX                0x4D
#define SET_JOINT_MAX_LEN            5


// Servo Control
#define IS_SERVO_ENABLED            0x50
#define IS_SERVO_ENABLED_LEN        3
#define IS_SERVO_ENABLED_RETURN_LEN        4

#define IS_ALL_SERVO_ENABLED        0x51
#define IS_ALL_SERVO_ENABLED_LEN    2
#define IS_ALL_SERVO_ENABLED_RETURN_LEN    3

#define SET_SERVO_DATA                0x52
#define SET_SERVO_DATA_LEN            5

#define GET_SERVO_DATA                0x53
#define GET_SERVO_DATA_LEN            4
#define GET_SERVO_DATA_RETURN_LEN    3

#define SET_SERVO_CALIBRATION        0x54
#define SET_SERVO_CALIBRATION_LEN    3

#define VOID_JOINT_BRAKE            0x55
#define VOID_JOINT_BRAKE_LEN        3

#define RELEASE_SERVO                0x56
#define RELEASE_SERVO_LEN            3

#define FOCUS_SERVO                    0x57
#define FOCUS_SERVO_LEN                3


//// ATOM IO
#define    SET_PIN_MODE                0x60
#define    SET_PIN_MODE_LEN            4
//
#define    SET_DIGITAL_OUTPUT            0x61
#define    SET_DIGITAL_OUTPUT_LEN        4

//
#define    GET_DIGITAL_INPUT                0x62
#define    GET_DIGITAL_INPUT_LEN            3
#define GET_DIGITAL_INPUT_RETURN_LEN    3
//
#define    SET_PWM_MODE                    0x63
#define    SET_PWM_MODE_LEN                6
//
#define    SET_PWM_OUTPUT                    0x64
#define    SET_PWM_OUTPUT_LEN                6

//
#define    GET_GRIPPER_VALUE                0x65
#define    GET_GRIPPER_VALUE_LEN            2
#define GET_GRIPPER_VALUE_RETURN_LEN    4
//
#define    SET_GRIPPER_STATE                0x66
#define    SET_GRIPPER_STATE_LEN            4
//
#define    SET_GRIPPER_VALUE                0x67
#define    SET_GRIPPER_VALUE_LEN            4

#define    SET_GRIPPER_INI                    0x68
#define    SET_GRIPPER_INI_LEN                2

#define    IS_GRIPPER_MOVING                0x69
#define    IS_GRIPPER_MOVING_LEN            2
#define IS_GRIPPER_MOVING_RETURN_LEN    3
//
#define    SET_LED                            0x6A
#define    SET_LED_LEN                        5
//
//// Base basic and IO control
//#define                                0x70
//#define

#define ROBOTIC_MESSAGE                0x80
#define ROBOTIC_MESSAGE_LEN            2
#define ROBOTIC_MESSAGE_RETURN_LEN    3

#define SET_TOOL_REF                0x81
#define SET_TOOL_REF_LEN            14

#define GET_TOOL_REF                0x82
#define GET_TOOL_REF_LEN            2
#define GET_TOOL_REF_RETURN_LEN        14

#define SET_WORLD_REF                0x83
#define SET_WORLD_REF_LEN            14

#define GET_WORLD_REF                0x84
#define GET_WORLD_REF_LEN            2
#define GET_WORLD_REF_RETURN_LEN    14

#define SET_REF_FRAME                0x85
#define SET_REF_FRAME_LEN            3

#define GET_REF_FRAME                0x86
#define GET_REF_FRAME_LEN            2
#define GET_REF_FRAME_RETURN_LEN    3

#define SET_MOVEMENT_TYPE            0x87
#define SET_MOVEMENT_TYPE_LEN        3

#define GET_MOVEMENT_TYPE            0x88
#define GET_MOVEMENT_TYPE_LEN        2
#define GET_MOVEMNET_TYPE_RETURN_LEN    3

#define SET_END_TYPE                0x89
#define SET_END_TYPE_LEN            3

#define GET_END_TYPE                0x8A
#define GET_END_TYPE_LEN            2
#define GET_END_TYPE_RETURN_LEN        3

#define MOVEC_COORDS_DEFAULT        0x8B
#define MOVEC_COORDS_DEFAULT_LEN    12

#define MOVEC_COORDS                0x8C
#define MOVEC_COORDS_LEN            14

#define MOVEL_COORDS                0x8D
#define MOVEL_COORDS_LEN            11
#endif // !COMMUNICATEDEFINE_H