Arm Link Packet Examples

Here are several example packets of the Arm Link Protocol. Each byte is represented as a hex value. To send these packets you can use any program that will allow you to send bytes over a serial terminal. Many programming languages have this built in, or available as an additional library. There are also GUI applications such as RealTerm and Cornflake that will allow you to send these packets. You will need to set your application to the following settings:

  • Baud: 38400
  • Parity: None
  • Data Bits: 8
  • Stop Bits: 1

In applications like realterm, you will need to send the numbers as hex values - simply put a '0x' before each value, as displayed in the example packet.

Example 1: Default Position

0xff 0x2 0x0 0x0 0x96 0x0 0x96 0x0 0x5a 0x00 0x00 0x0 0x0 0x80 0x00 0x00 0xf7
Paramater Value Transmitted Value Interpreted
X 512 0
Y 150 150
Z 150 150
Wrist Angle 90 0
Gripper 0 0
Delta 128 128

Examples 2-6 are variations on the default position

Example 2: X-Axis Left

0xff 0x1 0x38 0x0 0x96 0x0 0x96 0x0 0x5a 0x00 0x00 0x0 0x0 0x80 0x00 0x00 0xc0
Paramater Value Transmitted Value Interpreted
X 362 -150
Y 150 150
Z 150 150
Wrist Angle 90 0
Gripper 0 0
Delta 128 128

Example 3:Y-Axis In

0xff 0x2 0x0 0x0 0x32 0x0 0x96 0x0 0x5a 0x00 0x00 0x0 0x0 0x80 0x00 0x00 0x5b

Paramater Value Transmitted Value Interpreted
X 512 0
Y 50 50
Z 150 150
Wrist Angle 90 0
Gripper 0 0
Delta 128 128

Example 4: Z-Axis Down

0xff 0x2 0x0 0x0 0x96 0x0 0x32 0x0 0x5a 0x00 0x00 0x0 0x0 0x80 0x00 0x00 0x5b
Paramater Value Transmitted Value Interpreted
X 512 0
Y 150 150
Z 50 50
Wrist Angle 90 0
Gripper 0 0
Delta 128 128

Example 5: Wrist at -35 degrees

0xff 0x2 0x0 0x0 0x96 0x0 0x96 0x0 0x37 0x00 0x00 0x0 0x0 0x80 0x00 0x00 0x1a
Paramater Value Transmitted Value Interpreted
X 512 0
Y 150 150
Z 150 150
Wrist Angle 55 -35
Gripper 0 0
Delta 128 128

Example 6: Gripper Closed

0xff 0x2 0x0 0x0 0x96 0x0 0x96 0x0 0x5a 0x00 0x00 0x2 0x0 0x80 0x00 0x00 0xf5
Paramater Value Transmitted Value Interpreted
X 512 0
Y 150 150
Z 150 150
Wrist Angle 90 0
Gripper 512 512
Delta 128 128

Examples 7 and 8 go to the same pose, but with a different delta time.

Example 7: Stand Up - Fast

0xff 0x2 0x58 0x0 0x32 0x0 0xfa 0x0 0x5a 0x00 0x00 0x0 0x0 0x0 0x00 0x00 0x1f
Paramater Value Transmitted Value Interpreted
X 600 88
Y 50 50
Z 250 250
Wrist Angle 90 0
Gripper 0 0
Delta 0 0

Example 8: Stand Up - Slow

0xff 0x2 0x58 0x0 0x32 0x0 0xfa 0x0 0x5a 0x00 0x00 0x0 0x0 0xff 0x00 0x00 0x20
Paramater Value Transmitted Value Interpreted
X 600 88
Y 50 50
Z 250 250
Wrist Angle 90 0
Gripper 0 0
Delta 255 255

Getting Started