Cannot send command to Niryo Ned2 robot

General
1

Hello everyone,
I would like to know if someone has already worked on the niryo ned2 robot, I tried something simple to send a calibration command, but nothing happens, after some time, it disconnects. I know there is something missing. can someone help me please?

this is my flow:

Screenshot 2025-03-12 100731
Screenshot 2025-03-12 100731918Ă—117 7.66 KB

code:

[
    {
        "id": "12b20a78e760d478",
        "type": "inject",
        "z": "d19d1b39aea72fe2",
        "name": "",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "",
        "payloadType": "date",
        "x": 180,
        "y": 980,
        "wires": [
            [
                "dd84ff25116cbb27"
            ]
        ]
    },
    {
        "id": "968218f53a74d945",
        "type": "debug",
        "z": "d19d1b39aea72fe2",
        "name": "debug 11",
        "active": true,
        "tosidebar": true,
        "console": false,
        "tostatus": false,
        "complete": "payload",
        "targetType": "msg",
        "statusVal": "",
        "statusType": "auto",
        "x": 760,
        "y": 980,
        "wires": []
    },
    {
        "id": "dd84ff25116cbb27",
        "type": "function",
        "z": "d19d1b39aea72fe2",
        "name": "function 28",
        "func": "msg.payload={};\n\nmsg.payload = {'param_list': ['AUTO'], 'command': 'CALIBRATE'}\nmsg.host ='10.10.10.10';\nmsg.port =40001;\nreturn msg;\n\n",
        "outputs": 1,
        "timeout": 0,
        "noerr": 0,
        "initialize": "",
        "finalize": "",
        "libs": [],
        "x": 370,
        "y": 980,
        "wires": [
            [
                "75c674a7cd321ceb"
            ]
        ]
    },
    {
        "id": "75c674a7cd321ceb",
        "type": "tcp request",
        "z": "d19d1b39aea72fe2",
        "name": "",
        "server": "",
        "port": "",
        "out": "time",
        "ret": "buffer",
        "splitc": "500",
        "newline": "",
        "trim": false,
        "tls": "",
        "x": 570,
        "y": 980,
        "wires": [
            [
                "968218f53a74d945"
            ]
        ]
    }
]

link to example command using tcp protocol:

2

According to the linked doc you are missing json_packet_size

Every package have this following shape: <json_packet_size>{<json_content>}.

The JSON packet size is an unsigned short coded on 2 bytes.

The JSON contains command’s name & params.

try...

const payload = { param_list: ['AUTO'], command: 'CALIBRATE' }
const payloadStr = JSON.stringify(payload,null,0}
const len = payloadStr.length.toString(16).padStart(2,'0') // length as hexadecimal
if (len.length > 2) {
   throw new Error('payload length is > 0xFF')
}
msg.payload = `${len}${payloadStr}`
return msg

^ Untested ^

1 Like
3

Thanks for your help, I've just tested it but it doesn't work. I think maybe I need to configure the robot to receive the command or configure something else?