Command ID table¶

Command IDs of the Dobot Communication Protocol V1.1.5 defined in pydobotlab.CommandID.

Each row lists the ID in decimal and hexadecimal, the CommandID member, and the Magician methods that send it. A dash means that no method sends the command. Such commands can be sent with the low-level methods.

Device information¶

ID	Hex	Symbol	Magician method
0	0x00	`GET_DEVICE_SN`	`get_device_serial_number`, `is_dobot`, `discover`
1	0x01	`GET_SET_DEVICE_NAME`	`get_device_name`, `set_device_name`
2	0x02	`GET_DEVICE_VERSION`	`get_device_version`, `is_dobot`, `discover`
3	0x03	`GET_SET_DEVICE_WITH_L`	`set_device_withl`
4	0x04	`GET_DEVICE_TIME`	-
5	0x05	`GET_DEVICE_ID`	-

Real-time pose¶

ID	Hex	Symbol	Magician method
10	0x0A	`GET_POSE`	`get_pose`, `start_pose_stream`, `is_dobot`, `discover`
11	0x0B	`RESET_POSE`	-
12	0x0C	`GET_KINEMATICS`	-
13	0x0D	`GET_POSE_L`	`get_posel`

Alarms¶

ID	Hex	Symbol	Magician method
20	0x14	`GET_ALARMS_STATE` (read)	`get_alarms`, `ensure_no_alarms`, `get_lost_step_result`
20	0x14	`CLEAR_ALL_ALARMS_STATE` (write)	`clear_alarm`

Same ID, different roles - selected by the rw bit. See Alarms for what the 16 mask bytes encode.

Home¶

ID	Hex	Symbol	Magician method
30	0x1E	`GET_SET_HOME_PARAMS`	-
31	0x1F	`SET_HOME_CMD`	`set_home`
32	0x20	`SET_AUTO_LEVELING`	-

Handhold teaching¶

ID	Hex	Symbol	Magician method
40	0x28	`GET_SET_HHT_TRIG_MODE`	-
41	0x29	`GET_SET_HHT_TRIG_OUTPUT_ENABLED`	-
42	0x2A	`GET_HHT_TRIG_OUTPUT`	-

Arm orientation¶

ID	Hex	Symbol	Magician method
50	0x32	`GET_SET_ARM_ORIENTATION`	-

End-effector¶

ID	Hex	Symbol	Magician method
60	0x3C	`GET_SET_END_EFFECTOR_PARAMS`	-
61	0x3D	`GET_SET_END_EFFECTOR_LASER`	`set_endeffector_laser`
62	0x3E	`GET_SET_END_EFFECTOR_SUCTION_CUP`	`set_endeffector_suctioncup`
63	0x3F	`GET_SET_END_EFFECTOR_GRIPPER`	`set_endeffector_gripper`

JOG¶

ID	Hex	Symbol	Magician method
70	0x46	`GET_SET_JOG_JOINT_PARAMS`	-
71	0x47	`GET_SET_JOG_COORDINATE_PARAMS`	-
72	0x48	`GET_SET_JOG_COMMON_PARAMS`	`set_jog_common_params`, `get_jog_common_params`
73	0x49	`SET_JOG_CMD`	`jog`, `jog_stop`
74	0x4A	`GET_SET_JOG_L_PARAMS`	-

PTP¶

ID	Hex	Symbol	Magician method
80	0x50	`GET_SET_PTP_JOINT_PARAMS`	-
81	0x51	`GET_SET_PTP_COORDINATE_PARAMS`	-
82	0x52	`GET_SET_PTP_JUMP_PARAMS`	`jump_params`
83	0x53	`GET_SET_PTP_COMMON_PARAMS`	`motion_params`, `get_arm_speed_ratio`
84	0x54	`SET_PTP_CMD`	`ptp`, `move_to`, `set_r`
85	0x55	`GET_SET_PTP_L_PARAMS`	`set_ptpl_params`
86	0x56	`SET_PTP_WITH_L_CMD`	`set_ptpwithl_cmd`
87	0x57	`GET_SET_PTP_JUMP_2_PARAMS`	-
88	0x58	`SET_PTP_PO_CMD`	-
89	0x59	`SET_PTP_PO_WITH_L_CMD`	-

Continuous path (CP)¶

ID	Hex	Symbol	Magician method
90	0x5A	`GET_SET_CP_PARAMS`	`set_cp_params`
91	0x5B	`SET_CP_CMD`	`cp`
92	0x5C	`SET_CP_LE_CMD`	-

ARC¶

ID	Hex	Symbol	Magician method
100	0x64	`GET_SET_ARC_PARAMS`	-
101	0x65	`SET_ARC_CMD`	-
102	0x66	`SET_CIRCLE_CMD`	-
103	0x67	`GET_SET_ARC_COMMON_PARAMS`	-

Wait / trigger¶

ID	Hex	Symbol	Magician method
110	0x6E	`SET_WAIT_CMD`	`wait`
120	0x78	`SET_TRIG_CMD`	-

Extended I/O¶

ID	Hex	Symbol	Magician method
130	0x82	`GET_SET_IO_MULTIPLEXING`	`set_multiplexing`
131	0x83	`GET_SET_IO_DO`	`set_do`
132	0x84	`GET_SET_IO_PWM`	`set_pwm`
133	0x85	`GET_IO_DI`	`get_di`
134	0x86	`GET_IO_ADC`	`get_adc`
135	0x87	`SET_E_MOTOR`	`set_conveyor`
136	0x88	`SET_E_MOTOR_S`	-
137	0x89	`GET_SET_COLOR_SENSOR`	`set_color_sensor`, `get_color_sensor`
138	0x8A	`GET_SET_INFRARED_SENSOR`	`set_infrared_sensor`, `get_infrared_sensor`

Calibration¶

ID	Hex	Symbol	Magician method
140	0x8C	`GET_SET_ANGLE_SENSOR_STATIC_ERROR`	-
141	0x8D	`GET_SET_ANGLE_SENSOR_COEF`	-
142	0x8E	`GET_SET_BASE_DECODER_STATIC_ERROR`	-
143	0x8F	`GET_SET_LR_HAND_CALIBRATE_VALUE`	-

WIFI¶

ID	Hex	Symbol	Magician method
150	0x96	`GET_SET_WIFI_CONFIG_MODE`	-
151	0x97	`GET_SET_WIFI_SSID`	-
152	0x98	`GET_SET_WIFI_PASSWORD`	-
153	0x99	`GET_SET_WIFI_IP_ADDRESS`	-
154	0x9A	`GET_SET_WIFI_NETMASK`	-
155	0x9B	`GET_SET_WIFI_GATEWAY`	-
156	0x9C	`GET_SET_WIFI_DNS`	-
157	0x9D	`GET_WIFI_CONNECT_STATUS`	-

Lost-step detection¶

ID	Hex	Symbol	Magician method
170	0xAA	`GET_SET_LOST_STEP_PARAMS`	`set_lost_step_params`
171	0xAB	`SET_LOST_STEP_CMD`	`set_lost_step_cmd`

Queued execution control¶

ID	Hex	Symbol	Magician method
240	0xF0	`SET_QUEUED_CMD_START_EXEC`	`start_queue`, end of `batch`
241	0xF1	`SET_QUEUED_CMD_STOP_EXEC`	`stop_queue`, start of `batch`
242	0xF2	`SET_QUEUED_CMD_FORCE_STOP_EXEC`	`force_stop_queue`
243	0xF3	`SET_QUEUED_CMD_START_DOWNLOAD`	-
244	0xF4	`SET_QUEUED_CMD_STOP_DOWNLOAD`	-
245	0xF5	`SET_QUEUED_CMD_CLEAR`	`clear_queue`, start of `batch`, `connect`
246	0xF6	`GET_QUEUED_CMD_CURRENT_INDEX`	`queued_cmd_current_index`, polled by `wait_for`
247	0xF7	`GET_QUEUED_CMD_LEFT_SPACE`	`queued_cmd_left_space`

Commands without a method¶

Commands marked with a dash are sent with the low-level methods. Parameters are packed with the packing functions.

frame = bot.read_command(CommandID.GET_DEVICE_TIME)  # get, immediate
index = bot.queue_command(CommandID.SET_ARC_CMD, params_bytes)  # set, queued