3. Processes

This directory contains complete documentation for robot process-related protocols, covering various process types including welding, screwdriving, spraying, grinding, palletizing, vision, seam tracking, conveyor tracking, stamping, and laser cutting.

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Table of Contents

Process Type	Document	Description
Welding Process	0x4001~0x4015	Welding equipment, current/voltage matching, welding parameters, weave parameters, welding IO
Screwdriving Process	0x5731~0x5739	Tighten/loosen parameters, IO status, locking results
Spraying Process	0x4701~0x4718	Analog settings, digital settings, trajectory parameters, manual operation
Grinding Process	0x4601~0x4603	Grinding parameter settings and queries
Palletizing Process	0x4201~0x421F	Gripper parameters, pallet parameters, position parameters, workpiece parameters, overlap mode, plane mode
Vision Process	0x4101~0x4117	Vision parameters, position parameters, debug points, calibration, photo capture
Seam Tracking Process	0x4130~0x4171	Laser parameters, laser calibration, locating type, tracking type, laser tracking parameters
Conveyor Tracking	0x4801~0x4823	Conveyor parameters, parameter identification, real-time query, coordinate system calibration, sensor position calibration
New Stamping Process	0x8000~0x80XX	Program execution, material condition settings, control mode, production count, stamping enable, status query
Laser Cutting Process	0x4401~0x4423	IO port settings, global parameters, analog matching, cutting parameters, shot parameters, manual operation

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Message ID Quick Reference

Welding Process (0x4000)

Message ID	Name	Description
0x4001	WELDEQUIPMENT_SET	Set welding equipment
0x4002	WELDEQUIPMENT_INQUIRE	Query welding equipment
0x4003	WELDEQUIPMENT_RESPOND	Return welding equipment
0x4004	CURVOLMATCH_SET	Set current/voltage matching
0x4005	CURVOLMATCH_INQUIRE	Query current/voltage matching
0x4006	CURVOLMATCH_RESPOND	Return current/voltage matching
0x4007	WELDPARAMETER_SET	Set welding parameters
0x4008	WELDPARAMETER_INQUIRE	Query welding parameters
0x4009	WELDPARAMETER_RESPOND	Return welding parameters
0x400B	WEAVPARAMETER_SET	Set weave parameters
0x400C	WEAVPARAMETER_INQUIRE	Query weave parameters
0x400D	WEAVPARAMETER_RESPOND	Return weave parameters
0x400E	WELDFACTCURVOL_SET	Set actual current/voltage matching values
0x400F	WELDFACTCURVOL_RESPOND	Return setting result
0x4010	WELD_CURVOLMATCH_START	Start/end analog matching
0x4011	WELDIOPORT_SET	Set welding IO interface
0x4012	WELDIOPORT_INQUIRE	Query welding IO interface
0x4013	WELDIOPORT_RESPOND	Return welding IO interface
0x4015	WELDMONITOR_INQUIRE	Query welding status

Screwdriving Process (0x5700)

Message ID	Name	Description
0x5731	SCREWDRIVER_PARM_SET	Modify screwdriving parameters
0x5732	SCREWDRIVER_PARM_INQUIRE	Teach pendant query screwdriving parameters
0x5733	SCREWDRIVER_PARM_RESPOND	Send screwdriving parameters
0x5735	SCREWDRIVER_IOSTATUS_INQUIRE	Screwdriving IO status query
0x5736	SCREWDRIVER_IOSTATUS_RESPOND	Send IO status
0x5738	SCREWDRIVER_TWISTRES_INQUIRE	Screwdriving locking result query
0x5739	SCREWDRIVER_TWISTRES_RESPOND	Send locking result

Spraying Process (0x4700)

Message ID	Name	Description
0x4701	SPRAY_ANALOGGROUP_SET	Set analog
0x4702	SPRAY_ANALOGROUP_INQUIRE	Query analog
0x4703	SPRAY_ANALOGROUP_RESPOND	Return analog
0x4704	SPRAY_DIGIT_PARM_SET	Set digital parameters
0x4705	SPRAY_DIGIT_PARM_INQUIRE	Query digital parameters
0x4706	SPRAY_DIGIT_PARM_RESPOND	Return digital parameters
0x4707	SPRAY_SEQUENTIAL_SET	Set timing
0x4708	SPRAY_SEQUENTIAL_INQUIRE	Query timing
0x4709	SPRAY_SEQUENTIAL_RESPOND	Return timing
0x470A	SPRAY_TRAJECTORY_SET	Set trajectory parameters
0x470B	SPRAY_TRAJECTORY_INQUIRE	Query trajectory parameters
0x470C	SPRAY_TRAJECTORY_RESPOND	Return trajectory parameters
0x4711	SPRAY_HAND_OPERATION_SET	Set manual operation
0x4712	SPRAY_HAND_OPERATION_INQUIRE	Query manual operation
0x4713	SPRAY_HAND_OPERATION_RESPOND	Return manual operation status
0x4714	SPRAY_CUR_ANALOG_SET	Set analog
0x4715	SPRAY_CUR_ANALOG_INQUIRE	Query analog
0x4716	SPRAY_CUR_ANALOG_RESPOND	Return analog
0x4717	SPRAY_CUR_OILTIME_SET	Set oil volume test time
0x4718	SPRAY_CUR_OILTIME_INQUIRE	Query oil volume test time

Grinding Process (0x4600)

Message ID	Name	Description
0x4601	POLISH_PARAM_SET	Set grinding process parameters
0x4602	POLISH_PARAM_INQUIRE	Query grinding process parameters
0x4603	POLISH_PARAM_RESPOND	Return grinding process parameters

Palletizing Process (0x4200)

Message ID	Name	Description
0x4201	PAL_GRIPPER_PARM_SET	Set gripper parameters
0x4202	PAL_GRIPPER_PARM_INQUIRE	Query gripper parameters
0x4203	PAL_GRIPPER_PARM_RESPOND	Return gripper parameters
0x4204	PAL_PALLET_PARM_SET	Set pallet parameters
0x4205	PAL_PALLET_PARM_INQUIRE	Query pallet parameters
0x4206	PAL_PALLET_PARM_RESPOND	Return pallet parameters
0x4207	PAL_POS_PARM_SET	Set position parameters
0x4208	PAL_POS_PARM_INQUIRE	Query position parameters
0x4209	PAL_POS_PARM_RESPOND	Return position parameters
0x420A	PAL_WORKPIECE_PARM_SET	Set workpiece parameters
0x420B	PAL_WORKPIECE_PARM_INQUIRE	Query workpiece parameters
0x420C	PAL_WORKPIECE_PARM_RESPOND	Return workpiece parameters
0x420D	PAL_APPRO_PARM_SET	Set approach parameters
0x420E	PAL_APPRO_PARM_INQUIRE	Query approach parameters
0x420F	PAL_APPRO_PARM_RESPOND	Return approach parameters
0x4210	PAL_OVERLAP_PARM_SET	Set overlap mode parameters
0x4211	PAL_OVERLAP_PARM_INQUIRE	Query overlap mode parameters
0x4212	PAL_OVERLAP_PARM_RESPOND	Return overlap mode parameters
0x4213	PAL_PLANE_PARM_SET	Set plane mode parameters
0x4214	PAL_PLANE_PARM_INQUIRE	Query plane mode parameters
0x4215	PAL_PLANE_PARM_RESPOND	Return plane mode parameters

Vision Process (0x4100)

Message ID	Name	Description
0x4101	VISION_PARAMETER_SET	Set vision parameters
0x4102	VISION_PARAMETER_INQUIRE	Query vision parameters
0x4103	VISION_PARAMETER_RESPOND	Return vision parameters
0x4104	VISION_POS_PARAMETER_SET	Set vision position parameters
0x4105	VISION_POS_PARAMETER_INQUIRE	Query vision position parameters
0x4106	VISION_POS_PARAMETER_RESPOND	Return vision position parameters
0x4107	VISION_DEBUGGING_POS_INQUIRE	Query vision debug point list
0x4108	VISION_DEBUGGING_POS_RESPOND	Return debug point list
0x4109	VISION_DEBUGGING_POS_CLEAR	Clear vision debug point list
0x410A	VISION_DEBUGGING_TAKE_PICTURE	Take photo
0x410B	VISION_DEBUGGING_CALCULATE	Calculate offset
0x410C	VISION_DEBUGGING_POS_MOVE	Move to point
0x4110	VISION_GESTURE_CALIBRATION_SET	Calibrate grab pose
0x4111	VISION_GESTURE_CALIBRATION_RESPOND	Return calibration result
0x4112	VISION_TRY_TAKE_PICTURE	Trial photo
0x4113	VISION_TAKE_PICTURE_RESPOND	Return photo result
0x4114	VISION_IPPARAM_INQUIRE	Query vision IP parameters
0x4115	VISION_IPPARAM_RESPOND	Return IP parameters
0x4116	VISION_GESTURE_CALIBRATION_CLEAR	Clear grab pose calibration
0x4117	VISION_CALIBRATION_PARAM_SET	Set vision calibration parameters

Seam Tracking Process (0x4100/0x4130/0x4140/0x4160)

Message ID	Name	Description
0x4130	TRACK_LASER_PARAM_SET	Set laser parameters
0x4131	TRACK_LASER_PARAM_INQUIRE	Query laser parameters
0x4132	TRACK_LASER_PARAM_RESPOND	Return laser parameters
0x4133	LOCATING_SENSORTYPE_SET	Set locating type
0x4134	LOCATING_SENSORTYPE_INQUIRE	Query locating type
0x4135	LOCATING_SENSORTYPE_RESPOND	Return locating type
0x4136	TRACK_LASER_TRACKPARAM_SET	Set laser tracking parameter table
0x4140	SENSOR_LASER_CALIBRATE_INQUIRE	Query calibration records
0x4141	SENSOR_LASER_CALIBRATE_RESPOND	Return calibration records
0x4142	SENSOR_LASER_CALIBRATE_RECORD	Record calibration point
0x4143	SENSOR_LASER_CALIBRATE_RECORD_RESPOND	Return record result
0x4144	SENSOR_LASER_CALIBRATE_MOVETO	Move to calibration point
0x4145	SENSOR_LASER_CALIBRATE_CALCULATE	Calculate calibration result
0x4146	SENSOR_LASER_CALIBRATE_CALCULATE_RESPOND	Return calculation result
0x4147	SENSOR_LASER_CALIBRATE_CLEAR	Clear calibration records
0x4148	SENSOR_LASER_CALIBRATE_CANCEL	Cancel calibration
0x4149	SENSOR_LASER_CALIBRATE_RESULT_INQUIRE	Query whether laser is calibrated
0x414A	SENSOR_LASER_CALIBRATE_RESULT_RESPOND	Return calibration result
0x4169	TRACK_SENSORTYPE_SET	Set tracking type
0x4170	TRACK_SENSORTYPE_INQUIRE	Query tracking type
0x4171	TRACK_SENSORTYPE_RESPOND	Return tracking type

Conveyor Tracking (0x4800)

Message ID	Name	Description
0x4801	TRACK_CONVEYOR_CONVEYORPARAM_SET	Set conveyor parameters
0x4802	TRACK_CONVEYOR_CONVEYORPARAM_INQUIRE	Query conveyor parameters
0x4803	TRACK_CONVEYOR_CONVEYORPARAM_RESPOND	Return conveyor parameters
0x4804	TRACK_CONVEYOR_POSCHECKPARAM_SET	Set parameter identification
0x4805	TRACK_CONVEYOR_POSCHECKPARAM_INQUIRE	Query workpiece identification parameters
0x4806	TRACK_CONVEYOR_POSCHECKPARAM_RESPOND	Return workpiece identification parameters
0x4807	TRACK_CONVEYOR_REALTIME_INQUIRE	Real-time query encoder value and speed
0x4808	TRACK_CONVEYOR_REALTIME_RESPOND	Return real-time data
0x480E	TRACK_CONVEYOR_USERCOORD_INQUIRE	Query user coordinate system
0x480F	TRACK_CONVEYOR_USERCOORD_RESPOND	Return user coordinate system
0x4810	TRACK_CONVEYOR_USERCOORD_CALCULATE	Calculate user coordinate system
0x4811	TRACK_CONVEYOR_USERCOORD_CALIBRATION	Calibration coordinate acquisition
0x4812	RACK_CONVEYOR_CALIBRATION_INQUIRE	Query calibrated point coordinates
0x4813	TRACK_CONVEYOR_CALIBRATION_RESPOND	Return calibrated point coordinates
0x4814	TRACK_CONVEYOR_CALIBRATION_CLEAR	Clear calibration values
0x4815	TRACK_CONVEYOR_CALIBRATION_CANCEL	Cancel calibration
0x4816	TRACK_CONVEYOR_SENSORPOS_INQUIRE	Query sensor position
0x4817	TRACK_CONVEYOR_SENSORPOS_RESPOND	Return sensor position
0x4818	TRACK_CONVEYOR_SENSORPOS_CALIBRATION_INQUIRE	Query sensor position calibration parameters
0x4819	TRACK_CONVEYOR_SENSORPOS_CALIBRATION_RESPOND	Return calibration parameters
0x481A	TRACK_CONVEYOR_SENSORPOS_CALIBRATE	Sensor position parameter calibration

Stamping Process (0x8000)

Message ID	Name	Description
0x8000	PUNCH_SET_WORKPIECE_CONDITION	Upstream station material condition settings
0x8001	PUNCH_INQUIRE_WORKPIECE_CONDITION	Fixture material condition query
0x8002	PUNCH_RESPOND_WORKPIECE_CONDITION	Return material condition query result
0x8003	PUNCH_SET_CONTROL_MODE	Control mode settings
0x8004	PUNCH_INQUIRE_CONTROL_MODE	Query control mode
0x8005	PUNCH_RESPOND_CONTROL_MODE	Return control mode
0x8006	PUNCH_INQUIRE_PRODUCE_TARGET_WASTE_NUM	Production count query
0x8007	PUNCH_RESPOND_PRODUCE_TARGET_WASTE_NUM	Return production count
0x8008	PUNCH_CLEAR_PRODUCE_TARGET_WASTE_NUM	Clear production count
0x8009	PUNCH_SET_SHIELD_CHECK_RUN_WITHOUT_PIECE_PUNCH_ENABLE	Stamping enable settings
0x800A	PUNCH_INQUIRE_SHIELD_CHECK_RUN_WITHOUT_PIECE_PUNCH_ENABLE	Query stamping enable
0x800B	PUNCH_RESPOND_SHIELD_CHECK_RUN_WITHOUT_PIECE_PUNCH_ENABLE	Return stamping enable
0x800C	PUNCH_SINGLE_RUN_TEST	Standalone test run
0x800D	PUNCH_ESCAPE_FROM_MOULD	In-mold escape test
0x800E	PUNCH_SET_FIXTURE_ACTION	Set fixture action
0x800F	PUNCH_INQUIRE_FIXTURE_ACTION	Query fixture action
0x8010	PUNCH_RESPOND_FIXTURE_ACTION	Return fixture action
0x8011	PUNCH_ONLINE_STATUS_RESET	Online status reset
0x8012	PUNCH_JOBFILE_OPERATION	Pause/start/stop
0x8013	PUNCH_INQUIRE_RUN_STATUS	Run cycle query
0x8014	PUNCH_RESPOND_RUN_STATUS	Return run status
0x8015	PUNCH_SEND_ERROR_INFO	Send error popup message
0x8016	PUNCH_RECEIVE_ERROR_DEAL	Receive popup button handling
0x8017	PUNCH_CHOOSE_CRAFT_NUM	Select process number
0x8018	PUNCH_APPLY_TO_ONLINE	Apply to online
0x8019	PUNCH_INQUIRE_CURRENT_CRAFT_NUM	Query currently selected process number
0x801A	PUNCH_RESPOND_CURRENT_CRAFT_NUM	Return currently selected process number
0x801B~0x80XX	-	More process parameter settings

Laser Cutting Process (0x4400)

Message ID	Name	Description
0x4401	LASER_IOPORT_SET	IO port settings
0x4402	LASER_IOPORT_INQUIRE	IO port query
0x4403	LASER_IOPORT_RESPOND	IO port response
0x4404	LASER_EQUIPMENT_SET	Global parameter settings
0x4405	LASER_EQUIPMENT_INQUIRE	Global parameter query
0x4406	LASER_EQUIPMENT_RESPOND	Global parameter response
0x4407	LASER_ANALOGMATCH_SET	Analog matching settings
0x4408	LASER_ANALOGMATCH_INQUIRE	Analog matching query
0x4409	LASER_ANALOGMATCH_RESPOND	Analog matching response
0x440A	LASER_CUTPARM_SET	Cutting parameter settings
0x440B	LASER_CUTPARM_INQUIRE	Cutting parameter query
0x440C	LASER_CUTPARM_RESPOND	Cutting parameter response
0x440E	LASER_STATE_INQUIRE	Status query
0x440F	LASER_STATE_RESPOND	Status response
0x4410	LASER_SHOTPARM_SET	Shot parameter settings
0x4411	LASER_HANDOP_SET	Manual operation settings
0x4412	LASER_HANDOP_INQUIRE	Manual operation status query
0x4413	LASER_HANDOP_RESPOND	Manual operation status response
0x4417	LASER_FACTCURVOL_SET	Analog output settings
0x4419	LASER_FACTCURVOL_RESPOND	Analog output response
0x4422	LASER_CUT_FEED_COOL_GAS	Cooling gas control
0x4423	LASER_CUT_NOZZLE_CLEAN	Nozzle cleaning

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General Parameter Description

Robot Number (robot)

Type	Description
int	Robot number, typically range 1~n

Process Number (craftID/num/visionNum/conveyorID, etc.)

Type	Description
int	Process number, different process types have different value ranges

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Data Structure Description

Request/Response General Pattern

Requester ──Message ID──> Controller
          <──Response ID── Controller

General Response Format

{
  "result": 1,
  "robot": 1
}

Parameter	Type	Description
result	int	1-success, 0-failure
robot	int	Robot number

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Notes

1. Message ID format: All message IDs use hexadecimal format, e.g. 0x4001
2. Required parameters: The "Required" column in parameter descriptions indicates whether the parameter must be provided
3. Data types: For detailed parameter types and descriptions, please refer to each process's dedicated documentation
4. Code examples: JSON examples in each document can be used directly