Developer

Teaching Commands

The commands list related to Teaching Motion.
Teaching is executed by the teaching commands in addition to from buttons.

byte[0] Command Name Description
0xAA prepareTeachingMotion Prepare teaching motion
0xAB startTeachingMotion Start teaching motion
0xAC stopTeachingMotion Stop teaching motion
0xAD eraseMotion Erase motion
0xAE eraseAllMotion Erase all motion

0xAA : prepareTeachingMotion

Prepare teaching motion by specifying the index in the flash memory and recording time in milliseconds.

byte [0] [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
value 0xAA

uint16_t identifier

uint16_t index uint32_t time uint16_t crc16
description command task identifier index recording time [msec] CRC16
error-detecting

 

0xAB : startTeachingMotion

Start teaching motion in the condition of the last prepareTeachingMotion.

byte [0] [1] [2] [3] [4]
value 0xAB

uint16_t identifier

uint16_t crc16
description command task identifier CRC16
error-detecting

 

0xAC : stopTeachingMotion

Stop teaching motion.

byte [0] [1] [2] [3] [4]
value 0xAC

uint16_t identifier

uint16_t crc16
description command task identifier CRC16
error-detecting

 

0xAD : eraseMotion

Erase motion at the specified index in the flash memory.

byte [0] [1] [2] [3] [4] [5] [6]
value 0xA4

uint16_t identifier

uint16_t index uint16_t crc16
description command task identifier index CRC16
error-detecting

 

0xAE : eraseAllMotion

Erase all motion in the flash memory.

byte [0] [1] [2] [3] [4]
value 0xAE

uint16_t identifier

uint16_t crc16
description command task identifier CRC16
error-detecting