JSON protocol:

End-Effector Ecosystem Command Set

Setting End-Effector Ecosystem Protocol Mode set_rm_plus_mode

To set the end-effector ecosystem protocol mode, the protocol must be enabled based on the interface's baud rate.

• Input Parameters

Description	Type	Notes
set_rm_plus_mode	string	Sets the end-effector ecosystem protocol.
mode	int	0 - Disable protocol; 9600 - Enable protocol (baud rate 9600); 115200 - Enable protocol (baud rate 115200); 256000 - Enable protocol (baud rate 256000); 460800 - Enable protocol (baud rate 460800).

• Code Example

Input Set the end-effector ecosystem protocol mode.

{"command":"set_rm_plus_mode","mode":9600}

Output Configuration successful:

{
    "command":"set_rm_plus_mode",
    "set_state":true
}

Configuration failed:

{
    "command": "set_rm_plus_mode",
    "set_state":false
}

Querying End-Effector Ecosystem Protocol Mode get_rm_plus_mode

• Input Parameters

Description	Type	Notes
get_rm_plus_mode	string	Retrieves the end-effector ecosystem protocol mode.

• Output Parameters

Description	Type	Notes
get_rm_plus_mode	string	Retrieves the end-effector ecosystem protocol mode.
mode	int	0 - Disable protocol; 9600 - Enable protocol (baud rate 9600); 115200 - Enable protocol (baud rate 115200); 256000 - Enable protocol (baud rate 256000); 460800 - Enable protocol (baud rate 460800).

• Code Example

Input Retrieve the end-effector ecosystem protocol mode.

{"command":"get_rm_plus_mode"}

Output

{
    "command":"get_rm_plus_mode",
    "mode":9600
}

Setting Tactile Sensor Mode set_rm_plus_touch

• Input Parameters

Description	Type	Notes
set_rm_plus_touch	string	Sets the tactile sensor switch.
mode	int	0 - Disable tactile sensor; 1 - Enable tactile sensor (returns processed data); 2 - Enable tactile sensor (returns raw data).

• Code Example

Input Set the tactile sensor switch.

{"command":"set_rm_plus_touch","mode":0}

Output Configuration successful:

{
    "command":"set_rm_plus_touch",
    "set_state":true
}

Configuration failed:

{
    "command":"set_rm_plus_touch",
    "set_state":false
}

Querying Tactile Sensor Mode get_rm_plus_touch

• Input Parameters

Description	Type	Notes
get_rm_plus_touch	string	Retrieves the tactile sensor mode.

• Output Parameters

Description	Type	Notes
get_rm_plus_touch	string	Retrieves the tactile sensor mode.
mode	int	0 - Disable tactile sensor; 1 - Enable tactile sensor (returns processed data); 2 - Enable tactile sensor (returns raw data).

• Code Example

Input Retrieve the tactile sensor mode.

{"command":"get_rm_plus_touch"}

Output

{
    "command":"get_rm_plus_touch",
    "mode":0
}

Reading Basic Information of End-Effector Device get_rm_plus_base_info

• Input Parameters

Description	Type	Notes
get_rm_plus_base_info	string	Reads the basic information of the end-effector device.

• Output Parameters

Description	Type	Notes
get_rm_plus_base_info	string	Reads the basic information of the end-effector device.
base_info	object	Output parameter descriptions: "manu": Device manufacturer; "type": Device type, including 1 - Two-finger gripper, 2 - Five-finger dexterous hand, 3 - Three-finger gripper; "hv": Hardware version; "sv": Software version; "bv": Bootloader version; "id": Device ID; "dof": Degrees of freedom; "check": Self-check switch; "bee": Beeper switch; "force": Force control support; "touch": Tactile support; "touch_num": Number of tactile sensors; "touch_sw": Tactile switch; "hand": Hand orientation, including 1 - Left hand, 2 - Right hand; "pos_up": Position upper limit; "pos_low": Position lower limit; "angle_up": Angle upper limit; "angle_low": Angle lower limit; "speed_up": Speed upper limit; "speed_low": Speed lower limit; "force_up": Force upper limit; "force_low": Force lower limit.

• Code ExampleInput Retrieve the tactile sensor mode.

{"command":"get_rm_plus_base_info"}

Output Query successful:

{
    "command":"get_rm_plus_base_info",
    "base_info":{
        "angle_low":[0,0,0,0,0,0],
        "angle_up":[5500,7000,7000,7000,7000,9000],
        "bee":0,
        "bv":1286,
        "check":0,
        "dof":6,
        "force":false,
        "force_low":[0,0,0,0,0,0],
        "force_up":[0,0,0,0,0,0],
        "hand":1,
        "hv":256,
        "id":1,
        "manu":"QN",
        "pos_low":[0,0,0,0,0,0],
        "pos_up":[100,100,100,100,100,100],
        "speed_low":[0,0,0,0,0,0],
        "speed_up":[100,100,100,100,100,100],
        "sv":772,
        "touch":true,
        "touch_num":0,
        "touch_sw":0,
        "type":2
    }
}

Query failed:

{
    "command":"get_rm_plus_base_info",
    "get_state":false
}

Reading Real-Time Information of End-Effector Device get_rm_plus_state_info

• Input Parameters

Description	Type	Notes
get_rm_plus_state_info	string	Reads the real-time information of the end-effector device.

• Output Parameters

Description	Type	Notes
get_rm_plus_state_info	string	Reads the real-time information of the end-effector device.
state_info	object	Output parameter descriptions: "sys_state": System status; "sys_error": System error; "dof_state": Current status of each degree of freedom (DoF); "dof_err": Error information of each DoF; "pos": Current position of each DoF; "speed": Current speed of each DoF; "angle": Current angle of each DoF; "current": Current of each DoF; "force": Torque of each DoF (not returned if force control is not supported); "normal_force": Normal force of the tactile three-dimensional force of each DoF; "tangential_force": Tangential force of the tactile three-dimensional force of each DoF; "tangential_force_dir": Direction of the tangential force of the tactile three-dimensional force of each DoF; "tsa": Tactile self-approach of each DoF; "tma": Tactile mutual approach of each DoF; "touch_data": Raw data from the tactile sensor.

• Code ExampleInput Retrieve the tactile sensor mode.

{"command":"get_rm_plus_state_info"}

Output Query successful:

{
    "command":"get_rm_plus_state_info",
    "state_info":{
        "angle":[0,0,0,0,0,0],
        "current":[0,0,0,0,0,0],
        "dof_err":[0,0,0,0,0,0],
        "dof_state":[0,0,0,0,0,0],
        "normal_force":[65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535],
        "pos":[0,0,0,0,0,0],
        "speed":[0,0,0,0,0,0],
        "sys_state":0,
        "sys_err":0,
        "tangential_force":[65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535],
        "tangential_force_dir":[65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535,65535],
        "tma":[4294967295,4294967295,4294967295],
        "tsa":[4294967295,4294967295,4294967295,4294967295,4294967295,4294967295,4294967295,4294967295]
    }
}

Query failed:

{
    "command":"get_rm_plus_state_info",
    "get_state":false
}