USEFUL COMMANDS

Identify Delta Robot Command

To check if a COM port is connected to a Delta Robot, send the command IsDelta. If connected, it replies with YesDelta. The baudrate should be 115200.

IsDelta
>>> YesDelta
  • Model: Delta X 1, Delta X 2, Delta X S.

Disconnect COM Port Command

To disconnect the robot from the current COM port, use this command.

Disconnect
  • Model: Delta X 1, Delta X 2, Delta X S.

Get Current Position Command

To retrieve the robot’s current end-effector position, use the Position command. This returns the positions of all axes.

Position

>>> X30.4 Y90 Z-800 W50 U90
  • Model: Delta X 1, Delta X 2, Delta X S.

Get Position Offset Command

To get the position offset for each axis, use the PositionOffset command.

PositionOffset

>>> X0.5 Y1.2 Z-2.2
  • Model: Delta X 1, Delta X 2, Delta X S.

Get Current Theta Angles

For the current angles of the three upper arms, use Angle (angles in deg).

Angle

>>> X2.46 Y2.46 Z2.46
  • Model: Delta X 1, Delta X 2, Delta X S.

Get Current Endstop Sensor States

This command will return current states of endstops(on Delta X 1, Delta X 2) or proximity sensors(on Delta X S).

HTs

>>> 111
  • Model: Delta X 1, Delta X 2, Delta X S.

Get Robot IMEI

To find the robot’s unique IMEI, use the IMEI command.

IMEI

>>> 0004-0000-0000-0012
  • Model: Delta X 1, Delta X 2, Delta X S.

Get Robot Information

The Infor command provides details like the model, mainboard version, and firmware version.

Infor

>>> @IMWI Technology
>>> Main_board_version: V1.0
>>> Firmware_version: V1.0
>>> Model: DELTA_XS_V4_D800
  • Model: Delta X 1, Delta X 2, Delta X S.

Get Robot Active Status

To check the robot’s current status, use DeltaState. The status are Free, Running, Wait, Almostdone, Done.

DeltaState

>>> Free
  • Model: Delta X 2.

Set Feedback String

You can customize the feedback message after a command execution by setting a feedback string.

Feedback: done

>>> set feedback string to 'done'
  • Model: Delta X S.
  • With Delta X 2 model, this command will be FEEDBACK:<custom_string>.

Emergency Stop Command

Send an emergency signal with Emergency: . States include Reset, Stop, Pause, or Resume.

Emergency: <state>

Where <state> can be:

  • Reset - reset robot
  • Stop - stop robot
  • Pause - pause robot
  • Resume - resume robot

Model: Delta X 2, Delta X S.

Get Current Temperature

To get the hot end’s current temperature, use the TempState command.

  • Model: Delta X 2
TempState

>>> T:27.3
  • Model: Delta X 1
Temp

>>> T:28.2
  • Model: Delta X 2

Set up WIFI connection

For models Delta X 1 and Delta X 2, use the SSID and PSWD commands to connect to Wi-Fi. The robot will return its IP address upon successful connection. Make sure to switch to WiFi mode.

SSID:<wifi_name>
PSWD:<wifi_password>
IP

For Eg:

SSID:IMWI wifi
>>> Ok
PSWD:onlyuknow
>>> Ok

>>> IP:192.168.233.1

If you forgot your IP:

IP

>>> IP:192.168.233.1
  • Model: Delta X 1, Delta X 2.

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