2. State Control

This document contains the following content:

• Servo Status
• System Status
• Digital Input/Output
• Remote IO Control
• Global Variables

---

1. Servo Status

1.1 Servo Connection Status

1.1.1 Query Servo Connection Status

Item	Value
Command Word	0x5042 SERVO_CONNECT_INQUIRE

Request Parameters: None

{}

1.1.2 Return When Receiving Connection Status Query

Item	Value
Command Word	0x5043 SERVO_CONNECT_RESPOND

Parameter	Type	Description
servoType	int	Servo type

{
  "servoType": 0
}

---

1.2 Servo Status Set and Get

1.2.1 Upper Computer Changes Servo Status

Command Word: 0x2001 SERVO_STATUS_SET

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]
status	int	Servo status	0: Real servo, 1: Virtual servo, 2: No servo

{
  "robot": 1,
  "status": 0
}

1.2.2 Upper Computer Queries Servo Status

Command Word: 0x2002 SERVO_STATUS_INQUIRE

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]

{
  "robot": 1
}

1.2.3 Controller Responds Servo Status

Command Word: 0x2003 SERVO_STATUS_RESPOND

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]
mode	int	Run mode	0: Single robot mode, 1: Multi-robot mode
status	int	Servo status	0: Stopped, 1: Ready, 2: Error, 3: Running

{
  "mode": 0,
  "robot": 1,
  "status": 0
}

---

1.3 Operation Mode Status Set and Get

Operation Mode Description:

Mode Value	Name	Description
0	Teach Mode (Teach)	-
1	Remote Mode (Circle)	-
2	Run Mode (Repeat)	-

1.3.1 Upper Computer Sets Current Controller Operation Mode

Command Word: 0x2101 OPERATION_MODE_SET

Parameter	Type	Description	Range
mode	int	Operation mode	0: Teach mode, 1: Remote mode, 2: Run mode

{
  "mode": 0
}

1.3.2 Upper Computer Queries Operation Mode

Command Word: 0x2102 OPERATION_MODE_INQUIRE

Request Parameters: None

{}

1.3.3 Controller Responds Operation Mode

Command Word: 0x2103 OPERATION_MODE_RESPOND

Parameter	Type	Description
mode	int	Operation mode

{
  "mode": 0
}

1.3.4 Upper Computer Changes Teach Operation Mode

Command Word: 0x2104 TEACHTYPE_SET

Parameter	Type	Description	Range
teachType	int	Teach type	0: Jog (single axis), 1: Drag teach, 2: Jog (linked axes)

{
  "teachType": 0
}

1.3.5 Upper Computer Queries Teach Type

Command Word: 0x2105 TEACHTYPE_INQUIRE

Request Parameters: None

{}

1.3.6 Controller Responds Teach Type

Command Word: 0x2106 TEACHTYPE_RESPOND

Parameter	Type	Description
teachType	int	Teach type

{
  "teachType": 0
}

---

1.4 Coordinate Mode Status Set and Get

Coordinate Mode Description:

Mode Value	Name	Description
0	Joint Coordinate (Joint)	-
1	Cartesian Coordinate (Cart)	-
2	Tool Coordinate (Tool)	-
3	User Coordinate (User)	-

1.4.1 Upper Computer Changes Current Coordinate Mode

Command Word: 0x2201 COORD_MODE_SET

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]
coord	int	Coordinate mode	0: Joint coordinate, 1: Cartesian coordinate, 2: Tool coordinate, 3: User coordinate

{
  "robot": 1,
  "coord": 0
}

1.4.2 Upper Computer Queries Coordinate Mode

Command Word: 0x2202 COORD_MODE_INQUIRE

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]

{
  "robot": 1
}

1.4.3 Controller Responds Coordinate Mode

Command Word: 0x2203 COORD_MODE_RESPOND

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]
coord	int	Coordinate mode	0: Joint coordinate, 1: Cartesian coordinate, 2: Tool coordinate, 3: User coordinate

{
  "robot": 1,
  "coord": 0
}

---

1.5 Servo Power On/Off Status Set and Get

1.5.1 Teach Pendant Changes Current Power On/Off Status

Command Word: 0x2301 DEADMAN_STATUS_SET

Parameter	Type	Description	Range
deadman	int	Power on/off status	0: DEADMAN power off, 1: DEADMAN power on

{
  "deadman": 0
}

1.5.2 Teach Pendant Queries Power On/Off Status

Command Word: 0x2302 DEADMAN_STATUS_INQUIRE

Request Parameters: None

{}

1.5.3 Controller Responds Power On/Off Status

Command Word: 0x2303 DEADMAN_STATUS_RESPOND

Parameter	Type	Description
deadman	int	Power on/off status

{
  "deadman": 0
}

1.5.4 Upper Computer Sets Power On/Off Mode

Command Word: 0x2304 DEADMAN_MODE_SET

Parameter	Type	Description	Range
deadmanMode	int	Trigger mode	0: Software trigger, 1: Hardware trigger
deadmanPortOne	int	Power on enable port IO number	Each port can be assigned up to 16 IO numbers
deadmanPortTwo	int	Power off enable port IO number	-

{
  "deadmanMode": 1,
  "deadmanPortOne": 9,
  "deadmanPortTwo": 0
}

1.5.5 Upper Computer Queries Power On/Off Mode

Command Word: 0x2305 DEADMAN_MODE_INQUIRE

Request Parameters: None

{}

1.5.6 Controller Responds Power On/Off Mode

Command Word: 0x2306 DEADMAN_MODE_RESPOND

Parameter	Type	Description	Range
deadmanMode	int	Trigger mode	0: Software trigger, 1: Hardware trigger
deadmanPortOne	int	Power on enable port IO number	Each port can be assigned up to 16 IO numbers
deadmanPortTwo	int	Power off enable port IO number	-

{
  "deadmanMode": 1,
  "deadmanPortOne": 9,
  "deadmanPortTwo": 0
}

1.5.7 Servo Enable (Not available on teach pendant)

Command Word: 0x2311 MAN_BEG_OPERATION

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]

{
  "robot": 1
}

1.5.8 Robot Emergency Stop

Note: Original 2314 was servo power off, does not exist in the program

Command Word: 0x2314 MAN_END_OPERATION

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]

{
  "robot": 1
}

---

1.6 Clear Servo Error

1.6.1 Teach Pendant Clears Servo Error

Command Word: 0x3201 FAULT_RESET

Parameter	Type	Description	Range
robot	int	Select robot	[1, 4]

{
  "robot": 1
}

1.6.2 Return Clear Result After Clearing Servo Error

Command Word: 0x3202 FAULT_RESET_RESULT

Parameter	Type	Description
robot	int	Select robot
clearErrflag	bool	true: Servo error cleared successfully, false: Clear failed

{
  "robot": 1,
  "clearErrflag": true
}

---

2. System Status

2.1 Controller Initialization Completion

Query Completion

Command Word: 0x4305 CONTROLLER_INIT_FINISH_INQUIRE

Request Parameters: None

{}

Controller Response

Command Word: 0x4306 CONTROLLER_INIT_FINISH_RESPOND

Parameter	Type	Description
finishinit	bool	true: completed, false: not completed

{
  "finishinit": true
}

---

2.2 Controller IP Settings

Set Controller IP

Command Word: 0x4301 CONTROLLER_IP_SET

Parameter	Type	Description
name	string	Network interface name
address	string	IP address
gateway	string	Gateway
dns	string	DNS server

{
  "name": "p1p1",
  "address": "192.168.1.13",
  "gateway": "192.168.1.1",
  "dns": "114.114.114.114"
}

Query Controller IP

Command Word: 0x4302 CONTROLLER_IP_INQUIRE

Request Parameters: None

Controller Response

Command Word: 0x4303 CONTROLLER_IP_RESPOND

Parameter	Type	Description
num	int	Number of network interfaces
network	array	Network interface information array

{
  "num": 1,
  "network": [
    {
      "name": "p1p1",
      "address": "192.168.1.13",
      "gateway": "192.168.1.1",
      "dns": "114.114.114.114"
    },
    {
      "name": "p2p1",
      "address": "192.168.1.14",
      "gateway": "192.168.1.1",
      "dns": "114.114.114.114"
    }
  ]
}

---

2.3 Controller License

Get Controller ID

Command Word: 0x5052 IDENTIFY_NUMBER_INQUIRE

Controller Response

Command Word: 0x5053 IDENTIFY_NUMBER_RESPOND

Parameter	Type	Description
controllerID	string	Controller ID

{
  "controllerID": "4DC9F0249098C82E"
}

Get Controller Remaining Usage Days

Command Word: 0x5055 USE_REST_DAYS_INQUIRE

Controller Response

Command Word: 0x5056 USE_REST_DAYS_RESPOND

Parameter	Type	Description
restdays	int	Remaining days, -1: unlimited usage, 0: usage period expired
year	int	Expiration year
mon	int	Expiration month
day	int	Expiration day

{
  "restdays": 30,
  "year": 1,
  "mon": 1,
  "day": 1
}

Update Serial Number

Command Word: 0x5057 LICENSE_SERIAL_SET

Parameter	Type	Description
license	string	Controller serial number

{
  "license": "ACOCWKBZHSKBEJHI"
}

Controller Response

Command Word: 0x5059 LICENSE_SERIAL_RESPOND

Parameter	Type	Description
result	string	Key updated successfully, controller will restart
ivalid	string	Invalid key
error	string	Tampering detected, unlocking refused

{
  "result": "success",
  "ivalid": "Invalid key!",
  "error": "Tampering detected, unlocking refused!"
}

Query Image Version

Command Word: 0x505A IMAGE_VERSION_INQUIRE (not available on teach pendant)

Return Query Result

Command Word: 0x505B IMAGE_VERSION_RESPOND

Parameter	Type	Description
result	bool	Whether query is successful
version	int	Version number (returned when query is successful)

{
  "result": true,
  "version": xx
}

Controller Send (Unauthorized Usage Notice)

Command Word: 0x505C DISABLE_CONTROLLER

Parameter	Type	Description
reason	string	Controller unauthorized usage notice message

{
  "reason": ""
}

Controller Send (Remaining Days Reminder)

Command Word: 0x505F REST_DAYS_REMIND

Parameter	Type	Description
restDays	int	Controller sends remaining usage days

{
  "restDays": 0
}

---

2.4 Version Number Acquisition

When the teach pendant needs to obtain the current controller version number, send the following command:

Command Word: 0x3402 VERSIONNUM_INQUIRE

When Controller Receives Query Command, Sends the Following Command

Command Word: 0x3403 VERSIONNUM_RESPOND

Parameter	Type	Description
configFileVersionMismatch	bool	Whether configuration file matches, false: mismatched; true: matched
jobFileVersion	string	Job file version
rtlVersion	string	Controller version
sysClock	string	System clock, format: YYYY.MM.DD HH:MM:SS
version	string	Version number content
servoVersion	string	Servo version (Jiutong controller returns empty string)
ocmVersion	string	Static library version (Jiutong controller returns empty string)
ioVersion	string	IO version number (Jiutong controller returns empty string)
nodka_c1201	object	C1201 controller specific node

nodka_c1201 Node Parameter Description:

Parameter	Type	Description
deviceId	string	Device ID
hw_version	string	Hardware version number
fw_version	string	Firmware version number
drv_version	string	Driver version number

{
  "configFileVersionMismatch": false,
  "jobFileVersion": "5.2.0",
  "rtlVersion": "22.08.0",
  "sysClock": "2023.11.10 13:29:25",
  "version": "v1.0-rc1-67-gf34dae7",
  "servoVersion": "",
  "ocmVersion": "",
  "ioVersion": "",
  "nodka_c1201": {
    "deviceId": "",
    "hw_version": "",
    "fw_version": "",
    "drv_version": ""
  }
}

---

2.5 Version Verification

Query Whether Teach Pendant Program of Current Version Exists

Command Word: 0x3404 EXIST_TEACHBOX_EQUAL_QTTP_INQUIRE

Parameter	Type	Description
MD5	string	MD5 value of teach pendant program

{
  "MD5": "xx"
}

Return Query Result

Command Word: 0x3405 EXIST_TEACHBOX_EQUAL_QTTP_RESPOND`

If not found, the current version program needs to be uploaded.

Parameter	Type	Description
backuppath	string	Teach pendant program path

{
  "backuppath": "xx"
}

Query Whether Teach Pendant Program Matching Controller Version Exists

Command Word: 0x3406 EXIST_CONTROLLER_MATCHED_QTTP_INQUIRE

Request Parameters: None

Return Query Result

Command Word: 0x3407 EXIST_CONTROLLER_MATCHED_QTTP_RESPOND

If the result is yes, a popup will appear for the user to choose whether to auto-upgrade.

Parameter	Type	Description
backuppath	string	Teach pendant program path

{
  "backuppath": "xx"
}

---

2.6 Reboot Controller

When rebooting the controller, the teach pendant sends:

Command Word: 0x5061 REBOOT_CONTROLLER

Request Parameters: None

---

2.7 Factory Reset

When performing factory reset, the teach pendant sends:

Command Word: 0x5064 RETURN_FACTORY_SET

Parameter	Type	Description
clearConfigFile	bool	Clear all system configuration files
clearExtendedFile	bool	Clear all extended files

{
  "clearConfigFile": true,
  "clearExtendedFile": true
}

---

2.8 System Auto Backup

Backup System

Teach pendant sends:

Command Word: 0x5065 CONTROLLER_BACKUP_INQUIRE

Request Parameters: None

Controller Response

Command Word: 0x5066 CONTROLLER_BACKUP_RESPOND

Parameter	Type	Description
backUpNum	int	Backup count
backUpName	array	Backup system names, up to ten

{
  "backUpNum": 1,
  "backUpName": ["string", "string", "string"]
}

Restore System

Teach pendant sends:

Command Word: 0x5067 CONTROLLER_BACKUP_RESTORE

Parameter	Type	Description
backUpOneName	string	System name to restore

{
  "backUpOneName": "string"
}

Controller Response

Command Word: 0x5068 CONTROLLER_BACKUP_RESTORE_RESPOND

Parameter	Type	Description
success	bool	true: system restore successful, false: system restore failed

{
  "success": true
}

---

2.9 Servo Parameters

Set Servo Internal Parameters via Controller

Command Word: 0x5071 SERVO_INSIDE_PARM_SET

Parameter	Type	Description
robot	int	Robot number
servoNum	int	Servo number
ParameterName	object	Servo parameter name

{
  "robot": 1,
  "servoNum": 1,
  "ParameterName": {
    "value": "",
    "unit": "",
    "upLimit": "",
    "lowLimit": ""
  }
}

Teach Pendant Query

Command Word: 0x5072 SERVO_INSIDE_PARM_INQUIRE

Parameter	Type	Description
robot	int	Robot number
servoNum	int	Servo number

{
  "robot": 1,
  "servoNum": 1
}

Controller Return

Command Word: 0x5073 SERVO_INSIDE_PARM_RESPOND

Parameter	Type	Description
robot	int	Robot number
servoNum	int	Servo number
sendNum	int	Send index
totalNum	int	Total count
servo	array	Specific servo parameter array

{
  "robot": 1,
  "servoNum": 1,
  "sendNum": 1,
  "totalNum": 1,
  "servo": [
    {
      "name": "Motor Rated Power",
      "value": 3000
    },
    {
      "name": "Motor Rated Speed",
      "value": 4000
    }
  ]
}

---

2.10 File Transfer

Request to Upload a File

Command Word: 0x5501 REQUEST_UPLOAD_FILE

Parameter	Type	Description
name	string	File name
size	int	File size

{
  "name": "vxWorks",
  "size": 4096
}

Accept Upload Request / Reject Upload Request

Command Word: 0x5502 REQUEST_UPLOAD_RESPOND

Parameter	Type	Description
answer	string	"yes": accept upload, "busy": controller busy

{
  "answer": "yes"
}

Request to Download a File

Command Word: 0x5504 REQUEST_DOWNLOAD_FILE

Parameter	Type	Description
name	string	File name

{
  "name": "log.0"
}

Accept Download Request / Reject Download Request

Command Word: 0x5505 REQUEST_DOWNLOAD_RESPOND

Parameter	Type	Description
answer	string	"yes": accept download, "busy": controller busy, "nofile": no such file
name	string	Job file full path
size	int	If rejected, size is invalid

{
  "answer": "yes",
  "name": "log.0",
  "size": 4096
}

---

2.11 File Transfer Network Exception Interruption (Teach Pendant Only)

Command Word: 0x5525 DownLoadInterrupt

Request Parameters: None

{}

---

2.12 Teach Pendant Queries Controller Configuration File Directory

Command Word: 0x5507 CONFIG_FILE_INQUIRY

Parameter	Type	Description
isExport	bool	true: export configuration, false: import configuration

{
  "isExport": true
}

---

2.13 Controller Sends Configuration File Directory to Teach Pendant

Command Word: 0x5508 CONFIG_FILE_RESPOND

Parameter	Type	Description
filenum	int	Configuration file count
filelist	array	Configuration file name list

{
  "filenum": 2,
  "filelist": ["xxx.json", "yyy.json"]
}

---

2.14 Send File Binary Data

Command Word: 0x5511 UploadFileData (notifies controller that file sending is complete)

Command Word: 0x5512 UploadFileDone (sends file to controller in a loop)

Controller Response

Command Word: 0x5513 ReceiveUploadFinish

Parameter	Type	Description
finish	bool	true means upload successful, false means failed

{
  "finish": true
}

---

2.15 Teach Pendant Requests Log File List

Command Word: 0x5542 LOGFILE_LIST_INQUIRE

Parameter	Type	Description
num	int	Number of recent files to retrieve, options: 5, 30, 100

{
  "num": 5
}

Controller Returns Log File List

Command Word: 0x5543 LOGFILE_LIST_RESPOND

Parameter	Type	Description
absolutepath	string	Log directory
logfilenum	int	Note: this number may not equal the num above
logfilelist	array	Log file list

{
  "absolutepath": "log/",
  "logfilenum": 3,
  "logfilelist": ["logInfo.0", "logInfo.1", "logInfo.2"]
}

---

2.16 ENI File List Query

Command Word: 0x5545 ENIFILE_LIST_INQUIRE

Parameter	Type	Description
num	int	Number of recent files to retrieve, options: 5, 30, 100

{
  "num": 5
}

Controller Returns ENI File List

Command Word: 0x5546 ENIFILE_LIST_RESPOND

Parameter	Type	Description
absolutepath	string	File directory
ENIfilenum	int	Note: this number may not equal the num above

{
  "absolutepath": "log/",
  "ENIfilenum": 3
}

---

2.17 Teach Pendant Sends Reception Complete Notification

Command Word: 0x5544 DownLoadControlLogFileFinish

---

2.18 Teach Pendant Requests Job File List

Command Word: 0x5532 JOBFILE_LIST_INQUIRE

Controller Returns Job File Directory and Count

Command Word: 0x5533 JOBFILE_SUM_RESPOND

Parameter	Type	Description
absolutepath	array	Job file paths
jobfilenum	array	Job file count under each path

{
  "absolutepath": ["/job/R1/", "/job/R2/", "/job/R3/", "/job/R4/"],
  "jobfilenum": [2, 33, 233, 666]
}

Controller Returns Job File List

Command Word: 0x5534 JOBFILE_LIST_RESPOND

Parameter	Type	Description
robot	int	Robot number
listnum	int	Up to 10
jobfilelist	array	Job file list

{
  "robot": 1,
  "listnum": 2,
  "jobfilelist": [
    {
      "name": "xxx.JBR",
      "MD5": "123"
    },
    {
      "name": "yyy.JBR",
      "MD5": "132"
    }
  ]
}

Reception Complete Sent to Teach Pendant

Command Word: 0x5535 JOBFILE_LIST_FINISH

Request Parameters: None. Sent to teach pendant after all four robots have finished sending.

---

2.19 Teach Pendant Queries Lua Script List

Command Word: 0x5552 LUASCRIPT_LIST_INQUIRE

Request Parameters: None

Controller Returns Lua Script List

Command Word: 0x5553 LUASCRIPT_LIST_RESPOND

Parameter	Type	Description
absolutepath	string	Lua script directory
sum	int	Total list count
scriptlist	array	Script list

{
  "absolutepath": "lua/",
  "sum": 3,
  "scriptlist": ["ww.lua", "ee.lua"]
}

---

2.20 Message Notifications

Error Notification

Command Word: 0x2B03 ERROR_CODE

Warning Notification

Command Word: 0x2B04 WARNING_CODE

Info Bar Notification

Command Word: 0x2B05 INFO_CODE

Parameter	Type	Description
data	string	Info bar content
type	int	Message code

{
  "data": "Example",
  "type": 1234
}

Popup Notification

Command Word: 0x2B06 POPUP_CODE

Parameter	Type	Description
count	int	Number of popup buttons, up to 3
text1	string	Main text displayed in center of popup
text2	string	Button 1 text
text3	string	Button 2 text
text4	string	Button 3 text
kind	int	Popup notification type, 1 for message, 2 for warning, 3 for error
node	string	Robot number 1-4
Tips	bool	true when popup is shown

{
  "count": 1,
  "text1": "Example",
  "text2": "Example",
  "text3": "Example",
  "text4": "Example",
  "kind": 1,
  "node": "1",
  "Tips": true
}

Popup Interaction Feedback

Settings are made based on user interaction with the popup:

Command Word: 0x2B07 GET_OPTION

Parameter	Type	Description
node	string	Robot number 1-4
option	int	1-3, corresponding to popup options 1-3

{
  "node": "1",
  "option": 1
}

---

2.21 Controller Time Query

Time Query

Command Word: 0x5742 CONTROLLER_TIME_INQUIRE

Parameter	Type	Description
type	int	1: get seconds from system start to now, 0: display time
format	int	1: get Beijing time, 0: get timestamp

{
  "type": 0,
  "format": 0
}

Return Query Result

Command Word: 0x5743 CONTROLLER_TIME_RESPOND

Parameter	Type	Description
tType	int	1: get seconds from system start to now, 0: display time
format	int	1: get Beijing time, 0: get timestamp
date	object	When format is 1, expressed in Greenwich Mean Time
year	int	Year in date
mon	int	Month in date
day	int	Day in date
hour	int	Hour in time
min	int	Minute in time
sec	int	Second in time
msec	int	Millisecond in time
timestamp	object	Records timestamp in seconds and nanoseconds
s	int	Seconds in timestamp
ns	int	Nanoseconds in timestamp

{
  "tType": 0,
  "format": 0,
  "date": {
    "year": 2023,
    "mon": 1,
    "day": 1,
    "hour": 1,
    "min": 1,
    "sec": 1,
    "msec": 1
  },
  "timestamp": {
    "s": 1,
    "ns": 1
  }
}

---

3. Digital Input/Output

3.1 GPIO_DOUT_SET - Set Digital Output

Command Code: 0x3601

Sent when the teach pendant sets DOUT.

Parameter	Type	Required	Description
port	int	Yes	Port number, starting from 1
status	int	Yes	Port status: 0=low level, 1=high level

{
  "port": 1,
  "status": 1
}

---

3.2 GPIO_DOUT_INQUIRE - Query Digital Output Status

Command Code: 0x3602

Sent when the teach pendant queries DOUT status.

Request Parameters: None

---

3.3 GPIO_DOUT_RESPOND - Query Digital Output Status Response

Command Code: 0x3603

Returned by the controller after receiving the query request.

Parameter	Type	Required	Description
status	array	Yes	Status array of each output port

status Array Element Description:

Value	Description
0	Low level
1	High level
-1	No such port

{
  "status": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}

---

3.4 GPIO_DIN_INQUIRE - Query Digital Input Status

Command Code: 0x3605

Sent when the teach pendant queries DIN status.

Request Parameters: None

---

3.5 GPIO_DIN_RESPOND - Query Digital Input Status Response

Command Code: 0x3606

Returned by the controller after receiving the query request.

Parameter	Type	Required	Description
status	array	Yes	Status array of each input port

status Array Element Description:

Value	Description
0	Low level
1	High level
-1	No such port

{
  "status": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}

---

3.6 ANALOG_OUT_SET - Set Analog Output

Command Code: 0x3607

Sent when the teach pendant sets AOUT.

Parameter	Type	Required	Description
port	int	Yes	Port number, starting from 1
value	float	Yes	Port voltage value (e.g. 1.33 means 1.33V)

{
  "port": 1,
  "value": 1.33
}

---

3.7 ANALOG_OUT_INQUIRE - Query Analog Output Status

Command Code: 0x3608

Sent when the teach pendant queries AOUT status.

Request Parameters: None

---

3.8 ANALOG_OUT_RESPOND - Query Analog Output Status Response

Command Code: 0x3609

Returned by the controller after receiving the query request.

Parameter	Type	Required	Description
value	array	Yes	Value array of each analog output port

value Array Element Description:

Value	Description
0	Low level
1	High level
-1	No such port

{
  "value": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}

---

3.9 ANALOG_IN_INQUIRE - Query Analog Input Status

Command Code: 0x360A

Sent when the teach pendant queries AIN status.

Request Parameters: None

---

3.10 ANALOG_IN_RESPOND - Query Analog Input Status Response

Command Code: 0x360B

Returned by the controller after receiving the query request.

Parameter	Type	Required	Description
value	array	Yes	Value array of each analog input port

value Array Element Description:

Value	Description
0	Low level
1	High level
-1	No such port

{
  "value": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}

---

3.11 FORCE_DIN_SET - Set Force Digital Input

Command Code: 0x360C

Sent when the teach pendant sets force digital input.

Parameter	Type	Required	Description
port	int	Yes	Port number
enable	bool	Yes	Whether to enable force input
status	int	Yes	Set port high/low level: 0=low level, 1=high level

{
  "port": 1,
  "enable": true,
  "status": 0
}

---

3.12 FORCE_DIN_INQUIRE - Query Force Digital Input Status

Command Code: 0x360D

Sent when the teach pendant queries force input status.

Request Parameters: None

---

3.13 FORCE_DIN_RESPOND - Query Force Digital Input Status Response

Command Code: 0x360E

Returned by the controller after receiving the query request.

Parameter	Type	Required	Description
port	int	Yes	Port number
enable	bool	Yes	Whether force input is enabled
status	int	Yes	Set port high/low level: 0=low level, 1=high level

{
  "port": 1,
  "enable": true,
  "status": 0
}

---

3.14 FORCE_ANALOG_IN_SET - Set Force Analog Input

Command Code: 0x3611

Sent when the teach pendant sets force analog input.

Parameter	Type	Required	Description
port	int	Yes	Port number
enable	bool	Yes	Whether to enable force input
status	int	Yes	Set port analog value

{
  "port": 1,
  "enable": true,
  "status": 0
}

---

3.15 FORCE_ANALOG_IN_INQUIRE - Query Force Analog Input Status

Command Code: 0x3612

Sent when the teach pendant queries force analog input status.

Request Parameters: None

---

3.16 FORCE_ANALOG_IN_RESPOND - Query Force Analog Input Status Response

Command Code: 0x3613

Returned by the controller after receiving the query request.

Parameter	Type	Required	Description
port	int	Yes	Port number
enable	bool	Yes	Whether force input is enabled
status	int	Yes	Set port analog value

{
  "port": 1,
  "enable": true,
  "status": 0
}

---

4. Remote IO Control

4.1 IO Function Interface Settings

4.1.1 IO Function Interface Settings (Teach Pendant Send)

Command Code: 0x2F01 IO_CONTROL_SET

Parameter	Type	Required	Description
inPort	object	Yes	Remote IO function port binding
inValue	object	Yes	Port value, IO parameter, 0: active low, 1: active high
program	array	Yes	Remote IO program DIN and value binding, 10 in total
robot	int	Yes	Robot number

inPort Object Parameters:

Parameter	Type	Description
start	int	Start, bound port
stop	int	Stop, bound port
pause	int	Pause, bound port
faultReset	int	Clear alarm, bound port
clearoutagekeep	int	Clear power outage keep data, bound port

inValue Object Parameters:

Parameter	Type	Description
start	int	Start
stop	int	Stop
pause	int	Pause
faultReset	int	Clear alarm
clearoutagekeep	int	Clear power outage keep data

program Array Parameters:

Parameter	Type	Description
port	int	Port number
value	int	Port value, 0 or 1

{
  "inPort": {
    "clearoutagekeep": 16,
    "faultReset": 4,
    "pause": 3,
    "start": 1,
    "stop": 2
  },
  "inValue": {
    "clearoutagekeep": 1,
    "faultReset": 1,
    "pause": 1,
    "start": 1,
    "stop": 1
  },
  "program": [
    {"port": 5, "value": 1},
    {"port": 6, "value": 0},
    {"port": 7, "value": 0},
    {"port": 8, "value": 1},
    {"port": 9, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1}
  ],
  "robot": 1
}

---

4.1.2 IO Function Interface Query (Teach Pendant Send)

Command Code: 0x2F02 IO_CONTROL_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

---

4.1.3 IO Function Interface Response (Controller Return)

Command Code: 0x2F03 IO_CONTROL_RESPOND

Parameter Description: Same as 4.1.1 IO Function Interface Settings

{
  "inPort": {
    "clearoutagekeep": 16,
    "faultReset": 4,
    "pause": 3,
    "start": 1,
    "stop": 2
  },
  "inValue": {
    "clearoutagekeep": 1,
    "faultReset": 1,
    "pause": 1,
    "start": 1,
    "stop": 1
  },
  "program": [
    {"port": 5, "value": 1},
    {"port": 6, "value": 0},
    {"port": 7, "value": 0},
    {"port": 8, "value": 1},
    {"port": 9, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1}
  ],
  "robot": 1
}

---

4.2 Reset Point Settings

4.2.1 Reset Point Position Parameter Settings (Teach Pendant Send)

Command Code: 0x2F04 IO_CONTROL_RESETPOS_SET

Parameter	Type	Required	Description
pos	array	Yes	Robot position (7 elements)
posSync	array	Yes	External axis position (5 elements)
robot	int	Yes	Robot number

{
  "pos": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "posSync": [0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1
}

---

4.2.2 Reset Point IO Parameter Settings (Teach Pendant Send)

Command Code: 0x2F14 IO_CONTROL_RESETPORT_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number
selectPiontOrFile	int	Yes	0: reset point, 1: reset program
inPort	int	Yes	Reset start, IO trigger port
inValue	int	Yes	Reset start, IO parameter
outPort	int	Yes	Reset end, IO output port
safeEnable	bool	Yes	Safety enable
returnway	int	Yes	0: joint interpolation, 1: linear interpolation

{
  "robot": 1,
  "selectPiontOrFile": 0,
  "inPort": 0,
  "inValue": 1,
  "outPort": 0,
  "safeEnable": true,
  "returnway": 0
}

---

4.2.3 Safety Point Deviation Parameter Settings

Command Code: 0x2F15 IO_CONTROL_RESETSAFEDEV_SET

Parameter	Type	Required	Description
deviation	array	Yes	Robot position deviation (7 elements)
deviationSync	array	Yes	External axis deviation (5 elements)
robot	int	Yes	Robot number

{
  "deviation": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 1.0],
  "deviationSync": [1.0, 1.0, 1.0, 1.0, 1.0],
  "robot": 1
}

---

4.2.4 Safety Point Position Notification

Command Code: 0x2F16 IO_CONTROL_NOTIS_SAFEPOS

Description: When running a job file with safety enable activated, the controller sends this if not at the safety point.

Parameter	Type	Required	Description
robot	int	Yes	Current robot
isSync	bool	Yes	false: robot not in safety zone, true: external axis not in safety zone
currentPos	array	Yes	Current position
safePos	array	Yes	Reset point position

{
  "robot": 1,
  "isSync": false,
  "currentPos": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "safePos": [0, 0.1, 2, 3.3, 88, 555.55, 6, 7.7, 88]
}

---

4.2.5 Return to Reset

Command Code: 0x2F17 RECOVERY_SITE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

---

4.2.6 Reset Point Settings Query (Teach Pendant Send)

Command Code: 0x2F05 IO_CONTROL_RESET_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

---

4.2.7 Reset Point Settings Response (Controller Return)

Command Code: 0x2F06 IO_CONTROL_RESET_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Robot number
selectPiontOrFile	int	Yes	0: point selected, 1: program selected
returnWay	int	Yes	0: movj selected, 1: movl selected
inPort	int	Yes	Reset start, IO trigger port
inValue	int	Yes	Reset start, IO parameter
outPort	int	Yes	Reset end, IO output port
safeEnable	bool	Yes	Safety enable
pos	array	Yes	Reset point coordinates
posSync	array	Yes	External axis reset point coordinates
deviation	array	Yes	Safety point range
deviationSync	array	Yes	External axis safety point range

{
  "robot": 1,
  "selectPiontOrFile": 1,
  "returnWay": 1,
  "inPort": 0,
  "inValue": 1,
  "outPort": 0,
  "safeEnable": true,
  "pos": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "posSync": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "deviation": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "deviationSync": [1.0, 1.0, 1.0, 1.0, 1.0]
}

---

4.2.8 Current Position Query (Teach Pendant Send)

Command Code: 0x2F07 IO_CONTROL_POS_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number
coord	int	Yes	Coordinate mode: -1-controller current coordinate, 0-joint coordinate, 1-Cartesian coordinate, 2-tool coordinate, 3-user coordinate

{
  "robot": 1,
  "coord": 0
}

---

4.2.9 Current Position Response (Controller Return)

Command Code: 0x2F08 IO_CONTROL_POS_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Robot number
coord	int	Yes	Coordinate mode
pos	array	Yes	Radian position
posDeg	array	Yes	Degree position
configuration	int	Yes	Posture

{
  "robot": 1,
  "coord": 1,
  "pos": [0, 0.1, 2, 3.3, 44, 555.55],
  "posDeg": [0, 0.1, 2, 3.3, 44, 555.55],
  "configuration": 1
}

---

4.2.10 Dual-Robot Position Query (MOVJDOUBLE Instruction)

Command Code: 0x2F10 IO_CONTROL_DOUBLE_POS_INQUIRE

Description: MOVJDOUBLE instruction requires querying both the first and second robot positions in dual-robot mode.

Parameter	Type	Required	Description
robot1	int	Yes	Robot 1
coord1	int	Yes	Robot 1 coordinate: 1-Cartesian coordinate, 2-tool coordinate, 3-user coordinate
robot2	int	Yes	Robot 2
coord2	int	Yes	Same as robot 1

{
  "robot1": 1,
  "coord1": 1,
  "robot2": 2,
  "coord2": 1
}

---

4.2.11 Dual-Robot Position Response

Command Code: 0x2F11 IO_CONTROL_DOUBLE_POS_RESPOND

Parameter	Type	Required	Description
pos1Deg	array	Yes	Robot 1 axes 1-7 current position (in degrees)
pos1	array	Yes	Robot 1 axes 1-7 current position (in radians)
pos2Deg	array	Yes	Robot 2 axes 1-7 current position (in degrees)
pos2	array	Yes	Robot 2 axes 1-7 current position (in radians)

{
  "pos1Deg": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6],
  "pos1": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6],
  "pos2Deg": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6],
  "pos2": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6]
}

---

4.2.12 Open Job File

Command Code: 0x3114

Description: The reset program is fixed as RobotResetProgram with suffix .ResetPro

Parameter	Type	Required	Description
jobName	string	Yes	Job file name (fixed: RobotResetProgram)
robot	int	Yes	Robot number
suffixname	string	Yes	Job file suffix (fixed: .ResetPro)

{
  "jobName": "RobotResetProgram",
  "robot": 1,
  "suffixname": ".ResetPro"
}

---

4.2.13 Insert Instruction

Command Code: 0x3121

---

4.2.14 Save Job File

Command Code: 0x3120

Description: The reset program is fixed as RobotResetProgram with suffix .ResetPro

Parameter	Type	Required	Description
jobname	string	Yes	Job file name (fixed: RobotResetProgram)
robot	int	Yes	Robot number
suffix	string	Yes	Job file suffix (fixed: .ResetPro)

{
  "jobname": "RobotResetProgram",
  "robot": 1,
  "suffix": ".ResetPro"
}

---

4.3 Status Notification Settings Interface

4.3.1 Status Notification Settings (Teach Pendant Send)

Command Code: 0x2F09 IO_CONTROL_OUTPUT_SET

Parameter	Type	Required	Description
outPut	array	Yes	Output configuration array, each element corresponds to a robot
remoteOut	int	Yes	Remote mode
remoteOut_value	int	Yes	Remote mode value: 0, 1, 3 (blinking)
runOut	int	Yes	Run mode
runOut_value	int	Yes	Run mode value
startUp	int	Yes	Startup notification
startUp_value	int	Yes	Startup notification value
teachOut	int	Yes	Teach mode
teachOut_value	int	Yes	Teach mode value

outPut Array Element Parameters:

Parameter	Type	Description
IOenable	int	Enable DOUT binding
IOenable_value	int	Value: 0, 1, 3 (blinking)
continuable	int	Continuable execution DOUT binding
continuable_value	int	Value: 0, 1, 3 (blinking)
fault	int	Error notification DOUT binding
faultIsFickler	int	Value: 0, 1, 3 (blinking)
mainJobFirstLine	int	Main program first line DOUT binding
mainJobFirstLine_value	int	Value
pause	int	Pause DOUT binding
pause_value	int	Value
quickStopOut1	int	Emergency stop 1 DOUT binding
quickStopOut2	int	Emergency stop 2 DOUT binding
quickStopOutValue1	int	Value
quickStopOutValue2	int	Value
running	int	Running DOUT binding
running_value	int	Value
stop	int	Stop DOUT binding
stop_value	int	Value
teachBoxStateOut	int	Teach pendant unplug DOUT binding
teachBoxStateOutValue	int	Value

{
  "outPut": [
    {
      "IOenable": 1,
      "IOenable_value": 1,
      "continuable": 3,
      "continuable_value": 1,
      "fault": 5,
      "faultIsFickler": 1,
      "mainJobFirstLine": 7,
      "mainJobFirstLine_value": 1,
      "pause": 9,
      "pause_value": 1,
      "quickStopOut1": 11,
      "quickStopOut2": 12,
      "quickStopOutValue1": 1,
      "quickStopOutValue2": 1,
      "running": 15,
      "running_value": 1,
      "stop": 17,
      "stop_value": 1,
      "teachBoxStateOut": 0,
      "teachBoxStateOutValue": 1
    },
    {},
    {},
    {}
  ],
  "remoteOut": 1,
  "remoteOut_value": 1,
  "runOut": 2,
  "runOut_value": 1,
  "startUp": 3,
  "startUp_value": 1,
  "teachOut": 4,
  "teachOut_value": 1
}

---

4.3.2 Status Notification Query (Teach Pendant Send)

Command Code: 0x2F0A IO_CONTROL_OUTPUT_INQUIRE

Description: data: none

---

4.3.3 Status Notification Response (Controller Return)

Command Code: 0x2F0B IO_CONTROL_OUTPUT_RESPOND

Description: data: same as 0x2F09

---

4.4 IO Reset Settings Interface

4.4.1 IO Output Reset Settings (Teach Pendant Send)

Command Code: 0x2F0D IO_CONTROL_IORESET_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number
type	int	Yes	1-IO reset, 2-mode switch stop, 3-program error stop
enable	array	Yes	16 elements, values 0 or 1, contains reset values and whether to reset
value	array	Yes	16 elements, values 0 or 1, contains reset values and whether to reset

{
  "robot": 1,
  "type": 1,
  "enable": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "value": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
}

---

4.4.2 IO Output Reset Query (Teach Pendant Send)

Command Code: 0x2F0E IO_CONTROL_IORESET_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number
type	int	Yes	Type

{
  "robot": 1,
  "type": 1
}

---

4.4.3 IO Output Reset Response (Controller Return)

Command Code: 0x2F0F IO_CONTROL_IORESET_RESPOND

Description: data: same as 0x2F0D

---

4.5 IO Function Status Interface

4.5.1 IO Function Status Query (Teach Pendant Send)

Command Code: 0x2F12 IO_FUNCTION_INQUIRE

Parameter	Type	Required	Description
type	int	Yes	1-digital input, 2-digital output, 3-analog input, 4-analog output

{
  "type": 1
}

---

4.5.2 IO Function Status Response (Controller Return)

Command Code: 0x2F13 IO_FUNCTION_RESPOND

Parameter	Type	Required	Description
type	int	Yes	Type
IOFunction	array	Yes	16 for digital, 8 for analog

{
  "type": 1,
  "IOFunction": [
    "Remote: Robot 1 Start Robot 1 Vision: Trigger Port",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    ""
  ]
}

---

4.6 Remote Mode Interface

4.6.1 Reservation Execution Status Query (Teach Pendant Send)

Command Code: 0x2F1B RESERVE_EXE_STATE_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

---

4.6.2 Reservation Execution Status Response (Controller Return)

Command Code: 0x2F1C RESERVE_EXE_STATE_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Robot number
current	object	Yes	Current running status
queue	array	Yes	Queue (10 elements)

current Object Parameters:

Parameter	Type	Description
station	int	Workstation (program number)
name	string	Program name
runtime	int	Current run completed count
times	int	Current run total count
count	int	Total run count
status	int	Run status: 0-no reservation, 1-reserving, 2-running, 3-reserved, 4-program paused

queue Array Element Parameters:

Parameter	Type	Description
station	int	Workstation (program number)
name	string	Program name
times	int	Run count
count	int	Total run count
status	int	Status

{
  "robot": 1,
  "current": {
    "station": 1,
    "name": "Q1",
    "runtime": 1,
    "times": 3,
    "count": 1,
    "status": 2
  },
  "queue": [
    {"station": 1, "name": "Q4", "times": 2, "count": 0, "status": 1},
    {"station": 1, "name": "Q1", "times": 6, "count": 0, "status": 1},
    {"station": 1, "name": "Q3", "times": 1, "count": 0, "status": 1},
    {"station": 1, "name": "", "times": 1, "count": 0, "status": 0},
    {"station": 1, "name": "", "times": 2, "count": 0, "status": 0}
  ]
}

---

4.6.3 Clear Total Run Count

Command Code: 0x2F1D RESERVE_EXE_STATE_CLEAR

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

---

4.7 IO Model Settings

4.7.1 IO Model Settings (Teach Pendant Send)

Command Code: 0x2F21 IO_TYPE_SET

Description: Takes effect after restart

Parameter	Type	Required	Description
simuNum	int	Yes	Virtual IO count
serialAnalog	object	Yes	Serial analog configuration

serialAnalog Object Parameters:

Parameter	Type	Description
type	string	Options: SUPER_ANAIO, DAC_ANAIO
port	int	Port number
baudRate	int	Baud rate

{
  "simuNum": 0,
  "serialAnalog": {
    "type": "SUPER_ANAIO",
    "port": 1,
    "baudRate": 115200
  }
}

---

4.7.2 IO Model Query (Teach Pendant Send)

Command Code: 0x2F22 IO_TYPE_INQUIRE

---

4.7.3 IO Model Response (Controller Return)

Command Code: 0x2F23 IO_TYPE_RESPOND

Parameter	Type	Required	Description
num	int	Yes	IO board count
type	array	Yes	IO board type list
portNum	array	Yes	Port configuration
simuNum	int	Yes	Virtual IO count
serialAnalog	object	Yes	Serial analog configuration

{
  "num": 3,
  "type": ["IO Board R1", "Mengtong", "Virtual IO"],
  "portNum": [[16, 16, 2, 2], [20, 16, 4, 2], [16, 16, 0, 0]],
  "simuNum": 1,
  "serialAnalog": {
    "type": "SUPER_ANAIO",
    "port": 1,
    "baudRate": 115200
  }
}

---

4.8 Remote Status Notification

4.8.1 Remote Status Notification Settings

Command Code: 0x2F24 IO_REMOTEOUTPUT_SET

Parameter	Type	Required	Description
outPut	array	Yes	Output configuration array
robot	int	Yes	Robot number

outPut Array Element Parameters:

Parameter	Type	Description
outagerecover	int	Power outage keep data recovery DOUT1-2 port binding
outagerecover_value	int	DOUT1-2 port value: 0, 1, 2 (2 means blinking)
program1~program10	int	Remote IO program DOUT port binding
program_value1~program_value10	int	Remote IO program DOUT output port value: 0, 1, 2 (2 means blinking)

{
  "outPut": [{
    "outagerecover": 2,
    "outagerecover_value": 0,
    "program1": 1,
    "program2": 2,
    "program3": 3,
    "program4": 0,
    "program5": 0,
    "program6": 0,
    "program7": 0,
    "program8": 63,
    "program9": 64,
    "program10": 0,
    "program_value1": 1,
    "program_value2": 1,
    "program_value3": 1,
    "program_value4": 0,
    "program_value5": 0,
    "program_value6": 0,
    "program_value7": 0,
    "program_value8": 0,
    "program_value9": 2,
    "program_value10": 0
  }],
  "robot": 1
}

---

4.8.2 Remote Status Notification Query

Command Code: 0x2F25 IO_REMOTEOUTPUT_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

---

4.8.3 Remote Status Notification Response

Command Code: 0x2F26 IO_REMOTEOUTPUT_RESPOND

Description: Content same as 0x2F24

---

4.9 Safety Monitoring Settings

4.9.1 Safety Monitoring Settings (Teach Pendant Send)

Command Code: 0x2F31 IO_SAFE_CHECK_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number
safeScreen	object	Yes	Safety light curtain configuration
quickStop	object	Yes	Quick stop configuration

safeScreen Object Parameters:

Parameter	Type	Description
enable	bool	Enable safety light curtain
port1	int	Safety light curtain 1 DIN number (1~16)
value1	int	IO level parameter: 0-low level, 1-high level
port2	int	Safety light curtain 2 DIN number (1~16)

---

5. Global Variables

5.1 Current Position Mode

Value	Mode	Description
-1	Controller current coordinate	Controller current coordinate
0	Joint Coordinate (Joint)	Joint coordinate system
1	Cartesian Coordinate (Angle)	Cartesian coordinate system
2	Tool Coordinate (Tool)	Tool coordinate system
3	User Coordinate (User)	User coordinate system

---

5.2 Get Global Position Variable Points

Command: 0x5602 GLOBAL_ALLPOSITION_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

Controller Response: 0x5603 GLOBAL_ALLPOSITION_RESPOUND

Parameter	Type	Description
robot	int	Robot number
globalPosition	object	Global position list
note	object	Annotation list

{
  "robot": 1,
  "globalPosition": {
    "GP0001": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "GP0003": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6]
  },
  "note": {
    "GP0001": "qqqq",
    "GP0002": "",
    "GP0003": "www"
  }
}

Note: For 4-axis robots, the last two digits are padded with 0.

---

5.3 Set Global Position

Command: 0x5604 GLOBAL_POSITION_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number
posName	string	Yes	Position name
pos	array	Yes	Position data (14 elements)
note	string	No	Annotation

pos Array Description (14 elements total):

Index	Description
0	Coordinate system: 0-joint, 1-Cartesian, 2-tool, 3-user
1	Unit: 0-radian, 1-degree
2	Posture: 0-none, 1-left hand, 2-right hand
3	Tool coordinate number
4	User coordinate number
5-6	Reserved
7-13	Position data: J1~J7 / xyzabc

{
  "robot": 1,
  "posName": "GP0001",
  "pos": [1, 0, 0, 0, 0, 0, 0, 459, 0, 796, 3.141, 0, 0, 0],
  "note": "data"
}

---

5.4 Query Global Position

Command: 0x5605 GLOBAL_POSITION_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number
posName	string	Yes	Position name

{
  "robot": 1,
  "posName": "GP0001"
}

Controller Response: 0x5606 GLOBAL_POSITION_RESPOUND

Parameter	Type	Description
note	string	Annotation
posName	string	Variable name
posValue	array	Radian position
posValueDeg	array	Degree position
robot	int	Robot number

{
  "note": "",
  "posName": "GP0001",
  "posValue": [1.0, 1.0, 8.0, 0.0, 0.0, 0.0, 0.0, 377.5550, 1.3950, 718.3910, 3.104225101352, 0.106517442432, 0.024713861787, 0.0],
  "posValueDeg": [1.0, 1.0, 8.0, 0.0, 0.0, 0.0, 0.0, 377.5550, 1.3950, 718.3910, 177.858996966040, 6.102999895881, 1.415999975865, 0.0],
  "robot": 1
}

---

5.5 Set Global Numeric Variable

Command: 0x5607 GLOBAL_VARIANT_SET

Parameter	Type	Required	Description
varName	string	Yes	Variable name
varType	int	Yes	Variable type: 0-int, 1-double, 2-bool, 3-string
varValue	double	No	Variable value (for numeric types)
varString	string	No	Variable value (for string type)
varNote	string	No	Annotation

{
  "varName": "GI001",
  "varType": 1,
  "varValue": 14.0,
  "varString": "oooo",
  "varNote": "aaa"
}

---

5.6 Get Global Numeric Variable List

Command: 0x5608 GLOBAL_VARIANT_INQUIRE

Parameter	Type	Required	Description
varType	int	Yes	Variable type: 1-bool, 2-int, 3-double

{
  "varType": 1
}

Controller Response: 0x5609 GLOBAL_VARIANT_RESPOND

Parameter	Type	Description
varType	int	Variable type
varNum	int	Numeric variable count (0-100)
varList	array	Numeric variable list

varList Array Elements:

Parameter	Type	Description
varName	string	Variable name
varValue	mixed	Variable value
varNote	string	Annotation

{
  "varType": 1,
  "varNum": 2,
  "varList": [
    {
      "varName": "I001",
      "varValue": 3,
      "varNote": "QQQ"
    },
    {
      "varName": "D002",
      "varValue": 8.4,
      "varNote": "hhha"
    }
  ]
}

---

5.7 Request Global Numeric Annotation

Command: 0x5610 GLOBAL_ALLVARIANT_NOTE_INQUIRE

Parameter	Type	Required	Description
varType	int	Yes	Variable type: 1-bool, 2-int, 3-double, 4-string

{
  "varType": 1
}

Controller Response: 0x5611 GLOBAL_ALLVARIANT_NOTE_RESPOND

Parameter	Type	Description
varNote	object	Annotation list
varType	int	Variable type

{
  "varNote": {
    "GB001": "III",
    "GB002": "SDFSF"
  },
  "varType": 1
}

---

5.8 Query Single Global Variable

Command: 0x560B GLOBAL_VARIANT_INQUIRE

Parameter	Type	Required	Description
varType	int	Yes	Variable type: 0-int, 1-double, 2-bool, 3-string
varName	string	Yes	Variable name
identity	string	No	Source identifier

identity Value Description:

Value	Description
VariableReview	Global variable from monitoring interface
NumerlcalVarWidget	Global numeric variable interface

{
  "varType": 1,
  "varName": "GI001",
  "identity": "VariableReview"
}

Controller Response: 0x560C GLOBAL_VARIANT_RESPOUND

Parameter	Type	Description
varType	int	Variable type
varName	string	Variable name
varValue	mixed	Variable value
varString	string	String value (for string type)
identity	string	Source identifier
varNote	string	Annotation

{
  "varType": 1,
  "varName": "GI001",
  "varValue": 666,
  "varString": "i'm a string",
  "identity": "VariableReview",
  "varNote": "Parachute simulator"
}

---

5.9 Local Variable Position P Point Query

Command: 0x5612 LOCAL_POS_P_VAR_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Position name
initialValue	bool	Yes	Whether it is an initial value

{
  "robot": 1,
  "varname": "P0001",
  "initialValue": true
}

Controller Response: 0x5613 LOCAL_POS_P_VAR_RESPOND

Parameter	Type	Description
robot	int	Robot number
jobname	string	Job file name
varname	string	Position name
initialValue	bool	Whether it is an initial value
pos	array	Position (radian)
posDeg	array	Position (degree)

{
  "robot": 1,
  "jobname": "Q1",
  "varname": "P0001",
  "initialValue": true,
  "pos": [0, 0, 1, 2, 3, 4, 5, 6],
  "posDeg": [0, 0, 1, 2, 3, 4, 5, 6]
}

---

5.10 Local Variable Position E Point Query

Command: 0x5615 LOCAL_POS_E_VAR_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Position name
initialValue	bool	Yes	Whether it is an initial value

{
  "robot": 1,
  "varname": "E0001",
  "initialValue": true
}

Controller Response: 0x5616 LOCAL_POS_E_VAR_RESPOND

Parameter	Type	Description
robot	int	Robot number
jobname	string	Job file name
varname	string	Position name
initialValue	bool	Whether it is an initial value
pos	array	Position (radian, 11 elements)
posDeg	array	Position (degree, 11 elements)

{
  "robot": 1,
  "jobname": "Q1",
  "varname": "E001",
  "initialValue": true,
  "pos": [0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9],
  "posDeg": [0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
}

---

5.11 Local Variable Numeric Variable Query

Command: 0x5618 LOCAL_VALUE_VAR_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number
vartype	int	Yes	Variable type: 0-int, 1-double, 2-bool, 3-string
varname	string	Yes	Variable name
initialValue	bool	Yes	Whether it is an initial value
identify	string	No	Source identifier

identify Value Description:

Value	Description
CommandInsert	Insert instruction interface variable
VariableReview	Monitoring interface numeric variable

{
  "robot": 1,
  "vartype": 1,
  "varname": "I001",
  "initialValue": true,
  "identify": "CommandInsert"
}

Controller Response: 0x5619 LOCAL_VALUE_VAR_RESPOND

Parameter	Type	Description
robot	int	Robot number
jobname	string	Job file name
vartype	int	Variable type: 1-bool, 2-int, 3-double
varname	string	Variable name
value	mixed	Variable value (numeric type)
string	string	Variable value (string type)
identify	string	Source identifier

{
  "robot": 1,
  "jobname": "Q1",
  "vartype": 1,
  "varname": "I001",
  "value": 2,
  "string": "i'm a string",
  "identify": "CommandInsert"
}

---

5.12 Global External Axis Variables

Note: Global external axis variable structure: Position info (7) + Robot position (7) + External axis position (5) + Reserved (2) = 21 elements

5.12.1 Set Global External Axis Variable

Command: 0x561a GLOBAL_EXTPOS_VAR_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Position name
pos	array	Yes	Position data (21 elements)
note	string	No	Remark

pos Array Description:

Index Range	Description
0-6	Position info
7-13	Robot position
14-18	Sync external axis position
19-20	Reserved

{
  "robot": 1,
  "varname": "GE001",
  "pos": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 2.0, 2.1, 2.2, 2.3, 2.4, 0, 0],
  "note": "qqq"
}

5.12.2 Query Global External Axis Variable

Command: 0x561b GLOBAL_EXTPOS_VAR_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Position name
initialValue	bool	Yes	Whether it is an initial value

{
  "robot": 1,
  "varname": "GE0001",
  "initialValue": true
}

Controller Response: 0x561c GLOBAL_EXTPOS_VAR_RESPOND

Parameter	Type	Description
note	string	Annotation
varname	string	Variable name
initialValue	bool	Whether it is an initial value
posValue	array	GP + external point (radian)
posValueDeg	array	GP + external point (degree)

{
  "note": "",
  "varname": "GE001",
  "initialValue": true,
  "posValue": [0.0, 0.0, 0.0, 0.0],
  "posValueDeg": [0.0, 0.0, 0.0, 0.0]
}

5.12.3 Get All Global External Axis Points

Command: 0x561d GLOBAL_ALLEXTPOS_VAR_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

{
  "robot": 1
}

Controller Response: 0x561e GLOBAL_ALLEXTPOS_VAR_RESPOND

Parameter	Type	Description
robot	int	Robot number
globalExtPosition	object	Position list
note	object	Annotation list

{
  "robot": 1,
  "globalExtPosition": {
    "GE001": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "GE003": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6]
  },
  "note": {
    "GE001": "qqqq",
    "GE002": "",
    "GE003": "www"
  }
}

---

5.13 Robot Position Coordinate System Conversion

Command: 0x2A12 POS_TRANS_COORD

Parameter	Type	Required	Description
robot	int	Yes	Robot number
name	string	Yes	Position name
pos	array	Yes	Position data (21 elements)
targetCoord	int	Yes	Target coordinate system: 0-joint, 1-Cartesian, 2-tool, 3-user

{
  "robot": 1,
  "name": "P001",
  "pos": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "targetCoord": 1
}

Controller Response: 0x2A13 POS_TRANS_COORD_RESPOND

Parameter	Type	Description
name	string	Position name
pos	array	Position info (universal 21-element data, radian)
posDeg	array	Position info (universal 21-element data, degree)
robot	int	Robot number

{
  "name": "P001",
  "pos": [1, 1, 0, 0, 0, 0, 0, 459.62120, -0.1010, 796.79160, 3.141592653590, 0.0, 0.0, 0.0],
  "posDeg": [1, 1, 0, 0, 0, 0, 0, 459.62120, -0.1010, 796.79160, 180.0, 0.0, 0.0, 0.0],
  "robot": 1
}