Note, all the serial commands can be written uppercase or lowercase. They can be combined on a single line. You can use commas or spaces to separate commands, but you don't need to.
| Command | Description | Values | Example |
|---|---|---|---|
| ACC | Change the acceleration of the robot | 0.1 to 1000 | ACC20 |
| DEL | Delay for a certain amount of time in ms | 1 to 4,294,967,295 | DEL3000 |
| DIS | Disable the stepper motor of a joint | 0, 1, 2, 3 | DIS0 |
| ENA | Enable the stepper motor of a joint | 0, 1, 2, 3 | ENA1 |
| GRP | Control the gripper. Negative values open the gripper; positive values close the gripper. | -255 to 255 | GRP100 |
| HOM | Home a joint | 0, 1, 2, 3 | HOM2 |
| M0A | Move joint 0 to an absolute position in degrees | 0 to 330 | M0A45.5 |
| M1A | Move joint 1 to an absolute position | 0 to 100 | M1A10.01 |
| M2A | Move joint 2 to an absolute position | 0 to 120 | M2A100 |
| M3A | Move joint 3 to an absolute position | 0 to 330 | M3A45.5 |
| SPD | Change the speed of the robot | 0.1 to 1000 | SPD50 |
| STO | Stops all motion and holds position | N/A | STO |