Protocol

Basic Specification

In sending a command, firstly send header that defined as 3 characters. Secondly formatting and send each argument.

Before sending a command, client must convert binary-expression to ascii-expression. (If the client sending a command without conversion, PLEN's moving is different from you intended.)

No differences the command line made of upper case or lower case.

Group of Controller Command

$AN (Apply Native Value)

Args	Roles	Min (dec)	Max (dec)	Format
DEVICE_ID	Set a device id.	0	23	0 padding，hex，2byte
VALUE	Set to apply native value.	-2048	2047	0 padding，hex，3byte

example:
If you want to apply 1000 to device 10, send command below.

$an0a3e8

$AD (Apply Diff Value)

Args	Roles	Min (dec)	Max (dec)	Format
DEVICE_ID	Set a device id.	0	23	0 padding，hex，2byte
VALUE	Set to apply diff value.	-2048	2047	0 padding，hex，3byte

example:
If you want to apply home value - 100 to device 4, send command below.

$ad04f9c

$PM (Play a Motion)

Attention!
You could also use "$MP", but this is deprecated.

Args	Roles	Min (dec)	Max (dec)	Format
SLOT	Set to read slot.	0	89	0 padding，hex，2byte

example:
If you want to play slot 4, send command below.

$pm04

$SM (Stop a Motion)

Attention!
You could also use "$MS", but this is deprecated.

example:
If you want to stop a motion, send command below.

$sm

$HP (Apply Home Position)

example:
If you want to apply home position, send command below.

$hp

Group of Interpreter Command

#PU (Push a Function)

Args	Roles	Min (dec)	Max (dec)	Format
SLOT	Set to read slot.	0	89	0 padding，hex，2byte
LOOP_COUNT	Set number of play.	0	255	0 padding，hex，2byte

example:
If you want to push function that plays slot 10 three times, send command below.

#pu0a03

#PO (Pop a Function)

example:
If you want to pop a function, send command below.

#po

#RI (Reset the Interpreter)

example:
If you want to reset the interpreter, send command below.

#ri

Group of Setter Command

>IN (Install a Motion)

Attention!
This is deprecated. Obsolescent at firmware version 2.x. Please using >MH and >MF that are described after basically.

Args	Roles	Min (dec)	Max (dec)	Format
SLOT	Set to write slot.	0	89	0 padding，hex，2byte
NAME	Set a motion name.	---	---	white space padding，20byte
FUNC	Set a function. (*1)	0	255	0 padding，hex，2byte
ARG0	Set a function's arg 0. (*1)	0	255	0 padding，hex，2byte
ARG1	Set a function's arg 1. (*1)	0	255	0 padding，hex，2byte
FRAME_LENGTH	Set a frame length.	1	20	0 padding，hex，2byte
TRANSITION_TIME_MS	Set a transition time (msec).	32	65535	0 padding，hex，4byte
VALUE[DEVICE_ID]	Set to apply value. (*2)	-32768	32767	0 padding，hex，4byte

(*1) Type of function and role of args are described below.

"FUNC"'s Values	Roles
0	---
1	Play a motion with infinite loop between arg 0 and arg 1.
2	Jump to arg 0 if then stopped the motion.

(*2) Sum of devices is 24 and all are servo motor.

example:
Let install a motion below.

Args	Values
SLOT	0
NAME	Test
FUNC	0
ARG0	0
ARG1	0
FRAME_LENGTH	2
TRANSITION_TIME_MS	100
OUTPUT[EVEN]	0
OUTPUT[ODD]	-1

Please send command below. (There are no CR, LF, or CRLF actually.)

>in
00Test                00000002
0064
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff
0064
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff

>MH (Set a Motion Header)

Args	Roles	Min (dec)	Max (dec)	Format
SLOT	Set to write slot.	0	89	0 padding，hex，2byte
NAME	Set a motion name.	---	---	white space padding，20byte
FUNC	Set a function. (*1)	0	255	0 padding，hex，2byte
ARG0	Set a function's arg 0. (*1)	0	255	0 padding，hex，2byte
ARG1	Set a function's arg 1. (*1)	0	255	0 padding，hex，2byte
FRAME_LENGTH	Set a frame length	1	20	0 padding，hex，2byte

Please get more detail at ">IN" section.

>MF (Set a Motion Frame)

Args	Roles	Min (dec)	Max (dec)	Format
SLOT	Set to write slot.	0	89	0 padding，hex，2byte
FRAME_ID	Set a frame id.	1	20	0 padding，hex，2byte
TRANSITION_TIME_MS	Set a transition time (msec).	32	65535	0 padding，hex，4byte
VALUE[DEVICE_ID]	Set to apply value. (*2)	-32768	32767	0 padding，hex，4byte

Please get more detail at ">IN" section.

>JS (Reset the Joint Settings)

example:
If you want to reset the joint settings, send command below.

>js

>HO (Set a Home Value)

Args	Roles	Min (dec)	Max (dec)	Format
DEVICE_ID	Set a device id.	0	23	0 padding，hex，2byte
VALUE	Set to apply home value.	-2048	2047	0 padding，hex，3byte

example:
If you want to apply 100 as home value to device 0, send command below.

>ho00064

>MA (Set a Max Value)

Args	Roles	Min (dec)	Max (dec)	Format
DEVICE_ID	Set a device id.	0	23	0 padding，hex，2byte
VALUE	Set to apply max value.	-2048	2047	0 padding，hex，3byte

example:
If you want to apply 100 as max value to device 0, send command below.

>ma00064

>MI (Set a Min Value)

Args	Roles	Min (dec)	Max (dec)	Format
DEVICE_ID	Set a device id.	0	23	0 padding，hex，2byte
VALUE	Set to apply min value.	-2048	2047	0 padding，hex，3byte

example:
If you want to apply -1 as min value to device 10, send command below.

>mi0afff

Group of Getter Command

<JS (Dump the Joint Settings)

example:
If you want to dump the joint settings, send command below.

<js

At that time, outputting result like json below.

[
    {
        "max": <integer>,
        "min": <integer>,
        "home": <integer>
    },
    ...
]

<MO (Dump a Motion)

Args	Roles	Min (dec)	Max (dec)	Format
SLOT	Set to read slot.	0	89	0 padding，hex，2byte

example:
If you want to dump slot 0, send command below.

<mo00

At that time, outputting result like "motion.json". (See also...) However, property "device"'s type is not string but integer defined as device id in "device_map.json".

<VI (Dump the Version Information)

example:
If you want to dump the version information, send command below.

<vi

At that time, outputting result like json below.

{
    "device": <string>,
    "codename": <string>,
    "version": <string>
}