GCODES FOR X CONVEYOR BOARD

Detect Conveyor COM Port

If you wanna know that the COM port which connected was X Conveyor or not, you can send command IsXConveyor. If the COM port is connected to conveyor, it will response YesXConveyor.

Example

IsXConveyor

>>> YesXConveyor

M310 - Set Motion Mode

Decription

Set the motion mode of the conveyor belt.

Usage

M310 [<value>]

Parameter

  • [value] = 0: Output Mode (Stepper output pins will be use as a normal digital output).
  • [value] = 1: Position Mode (Position of the conveyor will be controlled by the command send to the serial port).
  • [value] = 2: Velocity Mode (Velocity of the conveyor will be controlled by the command send to the serial port).
  • [value] = 3: Manual mode (Velocity of the conveyor will be controlled by the buttons).

Example

M310 1    ;change control mode to Position Mode

M311 - Set Speed In Velocity Mode

Decription

Set the speed of the conveyor belt when it is in velocity mode. This speed will be kept exactly when running. With a positive value it will move in one direction and with a negative value it will move in the opposite direction.

Usage

M311 [<value>]

Parameter

  • [value]: Conveyor speed in mm/s.

Example

M311 200    ;set speed is 200 mm/s.

M311 -200    ;set speed is 200 mm/s but in opposite dir.

M312 - Set Position

Decription

Conveyor will move to a specified position.

Usage

M312 [<value>]

Parameter

  • [value]: Position in mm.

Example

M312 123    ;move to position 123

M313 - Set Speed In Position Move

Decription

Set the speed of the conveyor belt when it is running to desired position of M312.

Usage

M313 [<value>]

Parameter

  • [value]: Speed in mm/s.

Example

M313 300    ;move to position 123

M314 - Set Output Pins Level

Decription

Set the output pins level in Output Mode

Usage

M314 [P<value>] [V<value>]

Parameter

  • P[value]: Index of the output pin.
  • V[value]: value wanna set.

Example

M314 P1 V1    ;set output pin 1 at HIGH level.

M315 - Config Conveyor Parameters

Decription

Config the conveyor parameters.

Usage

M315 [S<value>] [R<value>] [E<value>] [P<value>] [A<value>] [B<value>]

Parameter

  • S[value]: pulse/mm of the stepper.
  • R[value]: set reverse conveyor.
  • E[value]: enable/disable encoder.
  • P[value]: set stop position while using encoder.
  • A[value]: acceleration of the conveyor.
  • B[value]: set velocity button.

Example

M315 S31.83 R0 E0 A5000 ;set up conveyor parameters (31.8 pulse/mm, not reverse dir, disable encoder, accel=5000mm/s^2)

Note

If you send “M315” command without any parameter, it will send the values of all above parameters.

M316 - Set Encoder Mode

Decription

Config the Encoder Port Mode: 0 - Absolute Mode -> return absolute position value 1 - Relative Mode -> return relative position value 2 - Input Pin Mode -> use encoder port as input pins 3 - Button Mode -> connect to buttons to adjust the conveyor speed

Usage

M316 [mode]

Parameter

  • [mode]: mode of the Encoder Port

Example

M316 1   ;set relative mode for encoder port

M317 - Get Position from Encoder

Description

Get current position of the conveyor from Encoder

Parameter

  • T[value]: set auto report position period time.
  • R: reset the position.
  • ``: report current position once time.

Usage

M317 ;get current postion
>> P0:5.32
M317 T500 ;set auto send position after every 500ms
>> P0:8.43
>> P0:16.57
M317 R ;reset the position to 0

M318 - Set encoder parameters

Description

Config encoder parameter values: pulse/mm, reverse direction, encoder scale parameter.

Parameter

  • S[value]: pulse/mm of encoder: default is 5.12 with X1 scale parameter.
  • R[value]: 0 - disable reverse direction, 1 - enable reverse direction
  • C[value]: scale factor of encoder (1,2,4)
  • ``: return all above parameters.

Usage

M318 S10.24 C2 R1 ;set X2 scale factor, that mean pulse/mm will x2 too, and reverse the direction of the encoder.

M319 - Read Input Pin

Description

Get the status of input pin in several mode.

Parameter

  • V[pin index]: get current status at pin index(0, 1).
  • T[pin index]: set auto feedback when pin status was changed.
  • S[pin index]: stop auto feedback at pin index.

Usage

M319 V1 ;get pin 1 status
>> I1 V1
M319 T0 ;set pin 0 auto feedback
>> I0 V0
>> I0 V1
M319 S0 ;stop pin 0 auto feedback

M390 - Set Ethernet Port

Description

Set the port number of ethernet communication

Usage

M390 [port]

Parameter

  • [port]: ethernet port

Example

M390 3456; set ethernet port

M391 - Set Ethernet IP Address

Description

You can define Ethernet IP address by yourself.

Usage

M390 [number] [number] [number] [number]

Parameter

  • [number]: number of IP address

Example

M391 192 168 0 2; set IP as 192.168.0.2

M392 - Set Ethernet DNS Address

Description

You can define Ethernet DNS address by yourself.

Usage

M392 [number] [number] [number] [number]

Parameter

  • [number]: number of DNS address

Example

M392 192 168 0 127; set DNS as 192.168.0.127

M393 - Set Ethernet Gateway Address

Description

You can define Ethernet Gateway address by yourself.

Usage

M393 [number] [number] [number] [number]

Parameter

  • [number]: number of gateway address

Example

M393 192 168 237 81; set gateway as 192.168.237.81

M394 - Set Ethernet Subnet Address

Description

You can define Ethernet Subnet address by yourself.

Usage

M394 [number] [number] [number] [number]

Parameter

  • [number]: number of subnet address

Example

M394 192 168 237 81; set subnet as 192.168.237.89

M395 - Set Ethernet MAC Address

Description

You can define Ethernet MAC address by yourself. You need to covert HEX number in address to DEC number before sending to robot.

Usage

M395 [number] [number] [number] [number]  [number] [number]

Parameter

  • [number]: number of MAC address (integer)

Example

M395 18 52 86 120 171 5; set MAC as 12:34:56:78:AB:05

M396 - Save and Init Ethernet Port

Description

After all Ethernet addresses and port are set, use this command to save and initializing the ethernet port.

Usage

M396

Example

M396 ;init Ethernet port

M397 - Get Ethernet Port Parameters

Description

Use this command to check all Ethernet address and port number.

Example

>>> M397 ;get all Ethernet setting parameters
<<< E_port:3456
<<< E_ip:192.168.0.2
<<< E_dns:192.168.0.127
<<< E_gateway:192.168.237.81
<<< E_subnet:192.168.237.89
<<< E_mac:12-34-56-78-AB-05
<<< Ok

M398 - Get Ethernet Local Port Parameters

Description

Use this command to check all Ethernet local address and port number.

Example

>>> M398 ;get all Ethernet setting parameters
<<< E_port:3456
<<< E_ip:192.168.0.2
<<< E_dns:192.168.0.127
<<< E_gateway:192.168.237.81
<<< E_subnet:192.168.237.89
<<< E_mac:12-34-56-78-AB-05
<<< Ok

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