USEFUL COMMANDS

Identify Delta Robot Command

When you need to identity a COM port was connected to Delta Robot or not, you can send a command like IsDelta to that port, if it is Delta Robot, it will feedback YesDelta. Note that the baudrate must be 115200.

IsDelta

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

Disconnect COM Port Command

This command will disconnect Delta Robot with the COM port which was connected before.

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

Get Current Position Command

This commnad will return current end effector position. If robot have any axis, the robot will return all current axis position.

Position

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

Get Position Offset Command

This command return positon offset of all axis.

PositionOffset

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

Get Current Theta Angles

This command return current theta angles of 3 upper arm (degree).

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

This command will return robot IMEI.

IMEI

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

Get Robot Infor

This command will return robot informations, such as model, version of mainboard,..

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

Return current robot active status. The status are Free, Running, Wait, Almostdone, Done.

DeltaState

>>> Free
  • Model: Delta X 2.

Set Feedback String

When the robot executed a gcode, it will feedback Ok. You can change Ok to another string like ok, done or whatever you want.

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

You can send a emergency signal by command 

Emergency: <state>

Where <state> can be:

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

Model: Delta X S.

Get Current Temperature

Return current temperature(in degree celsius).

  • Model: Delta X 2
TempState

>>> T:27.3
  • Model: Delta X 1
Temp

>>> T:28.2

Set up WIFI connection

To use WIFI connection on Delta X 1 or Delta X 2 model, just use these commands. Once connection successful, the robot will auto return IP address. Take note 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.

Contact Us