u/tru0ne

I have a Borunte BRTIRUS0707A 6-axis arm (HC1 controller, F5.2.1 firmware) and there was no ROS 2 support for it, so I created one and put it on GitHub:

👉 https://github.com/rqtqp/ros2_borunte_0707A

It's a ROS 2 (Humble) workspace that talks to the controller over its JSON-over-TCP interface (port 9760) — no vendor SDK needed. What works today:

Telemetry — live joint state on /joint_states, plus controller status/health.
MoveIt 2 motion — Plan + Execute in RViz actually moves the real arm (the bridge turns the planned trajectory into the controller's AddRCC motion command).
Safety — dry-run by default, live precondition gate (mode/alarm/limits), soft limits, and a /stop abort service.
Model (URDF + meshes) and a MoveIt config included, plus a documented mechanical-zero (groove/blade) home calibration.

Sharing it in case it's useful to anyone working with these arms. If you have questions about this piece of equipment (the arm, the HC1 controller, or its remote-command protocol), feel free to ask 🙂

Suddenly i have my hands on a BRTIRUS0707A with HC1 controller (firmware HC-QC-RX-7.8.07-master-F5.2.1). RemoteMonitor queries and basic commands (stop/start) work fine over TCP port 9760. Trying to get remote joint control working via AddRCC but hitting a wall.

The pendant's "long distance command" instruction references www.hc-system.com.HCRemoteCommand::\[HID:100\] as the data source — but every AddRCC packet sent to that dsID gets zero response, RemoteCmdLen stays 0, robot doesn't move. Tried every dsID variant and payload format from the official comms protocol manual (BRT-C-RC-HC1-TI1-V1.1).

The network settings on the pendant only offer "take photos" or "modbus" as port purposes — no remote command/HCRemoteCommand option anywhere.

Questions:

Is HCRemoteCommand locked behind a license or a specific firmware option on HC1 controllers?
Does anyone know the correct pendant configuration to actually expose this service?

Any experience with Borunte/Huacheng remote teaching appreciated.

Thanks in advance

ROS2 workspace for Borunte BRTIRUS0707A 6DOF arm

Borunte 6dof arm remote control from PC