How to communicate with Dobot using raw protocol


#1
  1. Download the serial debug terminal: http://www.i2cchip.com/realterm/Realterm_BETA_3.0.0.30_setup.exe

  2. Install the software

  3. After install the software, open it.

  4. Open DobotStudio to check which COM port Dobot Magigian uses(Don’t connect).

  5. Change the settings of the RealTerm:

  6. The original Baud setting of the Port tab is 57600, we must change this to 115200. If the port number is not the same as DobotStudio, change it.

The original state of the Open button is pressed. To apply the changes, click it to make it unpressed, and click it again to make it pressed.


If a warning window pops up, just click OK if the port is correct.

  1. Navigate to the Send Tab, input “AA AA 02 0A 00 F6”(Space seperated), and click as Hex.

    And Dobot will return some data.
  2. Some other collections of commands using raw protocol(Refer to the Dobot Communication Protocol):

SetPTPCmd(MOVL mode, x:250 y:0 z:0 r:0):AA AA 13 54 03 01 00 00 7A 43 00 00 00 00 00 00 00 00 00 00 00 00 EA
x, y, z, r are floating number, and we can refer to IEEE754 for the memory format.
And it returns an echo command containing the index of the SetPTPCmd in Dobot Magician(Auto increment)

GetPose:AA AA 02 0A 00 F6

And it returns an echo command containing current pose of Dobot Magician

Refer to the Dobot communication protocol document for other commands.


DOBOT 通訊協議 SetPTPCmd
A very simple example for Dobot in C#
#2

Hi Eric,

I’m trying this out. I get a response for “AA AA 02 0A 00 F6” but not for “AA AA 13 54 03 01 00 00 7A 43 00 00 00 00 00 00 00 00 00 00 00 00 EA” It doesn’t respond with the SetPTPCmd index.


#3

Sorry the last one should be “B”, not A. The correct hex data is shown as below:
AA AA 02 0A 00 F6" but not for "AA AA 13 54 03 01 00 00 7A 43 00 00 00 00 00 00 00 00 00 00 00 00 EB


#4

Eric,

Can you break down the hex a bit more?

Header = AA AA
Length = 13
ID = 54
ctrl (rw,isQueued) = 03
Params = 01 00 00 7A 43 00 00 00 00 00 00 00 00 00 00 00 00
Checksum = EB

For Params:
ptpmode = 01
x = 00 00 7A 43
y = 00 00 00 00
z = 00 00 00 00
r = 00 00 00 00

Is this correct?


#5

Eric, I was able to verify what I have above is correct. Thanks!


#6

Yes you’re right! I’ll send you a software to calculate the check code if you need one. Please leave your mailbox here, tks!


#7

hi Eric,
Can you give me a piece of software to test the code I found that he is still difficult for me to understand.Thanks!


#8

Hi lang, could you please leave your mailbox to me? TKS!


#9

why x parameters is 00 00 7A 43 instead of 255 and how can i change the pose properly?