Method ↔ command mapping

Each Magician method that sends a protocol command, in alphabetical order, with the command ID, control byte, and parameter layout it uses. Multi-byte fields are little-endian. The reverse mapping is the Command ID table.

Method	Cmd ID	Ctrl	Param layout	Notes
batch() (enter)	241, 245	0x01	–	SET_QUEUED_CMD_STOP_EXEC, then SET_QUEUED_CMD_CLEAR. Outermost block only.
batch() (exit)	240	0x01	–	SET_QUEUED_CMD_START_EXEC, then waits as wait_idle. If the block raised: SET_QUEUED_CMD_CLEAR (245), then SET_QUEUED_CMD_START_EXEC. Outermost block only.
clear_alarm	20	0x01	–	Followed by a get of ID 20 after 0.2 s.
clear_queue	245	0x01	–
connect	245, 240	0x01	–	SET_QUEUED_CMD_CLEAR, then SET_QUEUED_CMD_START_EXEC. Omitted with auto_start_queue=False.
cp	91	0x03	u8 cpMode, f32 x, f32 y, f32 z, f32 velocity
disconnect	245, 240	0x01	–	SET_QUEUED_CMD_CLEAR, then SET_QUEUED_CMD_START_EXEC. Omitted with auto_start_queue=False.
ensure_no_alarms	20	0x00	–	Read alarm mask.
execute_command	any	0x03	caller's	+ waits as wait_for, except inside batch.
force_stop_queue	242	0x01	–
get_adc	134	0x00	u8 port	Returns u16 value.
get_alarms	20	0x00	–	Returns 16-byte mask.
get_arm_speed_ratio	72 / 83	0x00	–	72 if mode=0 (JOG), 83 if mode=1 (PTP).
get_color_sensor	137	0x00	–	Returns r, g, b as 3 × u8.
get_device_name	1	0x00	–
get_device_serial_number	0	0x00	–
get_device_version	2	0x00	–	Returns u8 major, u8 minor, u8 rev.
get_di	133	0x00	u8 port
get_infrared_sensor	138	0x00	u8 port
get_jog_common_params	72	0x00	–	Returns f32 vel, f32 acc.
get_lost_step_result	20	0x00	–	Re-uses get_alarms.
get_pose	10	0x00	–	Returns 8 × f32: x, y, z, r, j1..j4.
get_posel	13	0x00	–	Returns f32 mm.
home (deprecated alias)	31	0x03	u32 mode=0	Same as set_home.
jog	73	0x01	u8 isJoint, u8 cmd	Immediate. See Control byte.
jog_stop	73	0x01	u8 isJoint, u8 cmd	cmd is JOGCmd.IDLE.
jump_params (getter)	82	0x00	–
jump_params (setter)	82	0x03	f32 jumpHeight, f32 zLimit	API takes (zlimit, height); wire order is swapped.
motion_params (getter)	83	0x00	–
motion_params (setter)	83	0x03	f32 vel, f32 acc
move_to	84	0x03	u8 mode, f32 x, f32 y, f32 z, f32 r	+ waits on cmd 246.
ptp	84	0x03	u8 mode, f32 x, f32 y, f32 z, f32 r
queued_cmd_current_index	246	0x00	–	Returns u64.
queued_cmd_left_space	247	0x00	–	Returns u32.
set_color_sensor	137	0x03	u8 enable, u8 port, u8 version
set_conveyor / set_converyor	135	0x03	u8 index, u8 enable, i32 speed
set_cp_params	90	0x03	f32 planAcc, f32 junctionVel, f32 acc, u8 realTimeTrack
set_device_name	1	0x01	ASCII bytes + \0
set_device_withl	3	0x01	u8 enable, u8 version
set_do	131	0x03	u8 port, u8 level
set_endeffector_gripper	63	0x03	u8 enableCtrl, u8 grip
set_endeffector_laser	61	0x03	u8 enableCtrl, u8 on
set_endeffector_suctioncup	62	0x03	u8 enableCtrl, u8 on
set_home	31	0x03	u32 mode=0
set_infrared_sensor	138	0x03	u8 enable, u8 port, u8 version
set_jog_common_params	72	0x03	f32 vel, f32 acc
set_lost_step_cmd	171	0x03	–
set_lost_step_params	170	0x01	f32 threshold
set_multiplexing	130	0x03	u8 port, u8 function
set_ptpl_params	85	0x03	f32 vel, f32 acc
set_ptpwithl_cmd	86	0x03	u8 mode, f32 x, f32 y, f32 z, f32 r, f32 l
set_pwm	132	0x03	u8 port, f32 freq, f32 cycle
set_r	84	0x03	u8 mode, f32 x, f32 y, f32 z, f32 r	Reads pose first, then sends SET_PTP_CMD.
start_pose_stream	10	0x00	–	Repeated GET_POSE.
start_queue	240	0x01	–
stop_pose_stream	–	–	–	Sends no command.
stop_queue	241	0x01	–
wait	110	0x03	u32 ms
wait_for	246, 20	0x00	–	Repeated gets of the queue index (246) and, with raise_on_alarm, the alarms (20). On an alarm, SET_QUEUED_CMD_CLEAR (245).
wait_idle	246, 20	0x00	–	As wait_for, for the last index queued by this instance.

Columns

• Cmd ID: decimal ID. The CommandID member names are in the Command ID table.
• Ctrl: 0x00 get, immediate. 0x01 set, immediate. 0x03 set, queued. See Control byte.
• Param layout: parameters sent by the host. A dash means none.

The response to a queued set command is a u64 queue index. The DobotLab functions with control byte 0x03 then wait as wait_for does, except inside batch.