Grinding Process
1. Grinding Process Parameter Settings
0x4601 POLISH_PARAM_SET
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | number | Yes | Robot number |
| craftID | number | Yes | Process number |
| polish | object | Yes | Grinding parameter object |
polish Object Parameters
| Parameter | Type | Required | Default | Description |
|---|---|---|---|---|
| toolWear | number | No | 0.0 | Tool wear compensation |
| startToolOffset | object | No | - | Start tool offset |
| endToolOffset | object | No | - | End tool offset |
| autoFeed | object | No | - | Auto compensation |
startToolOffset / endToolOffset Object Parameters
| Parameter | Type | Required | Default | Description |
|---|---|---|---|---|
| X | number | No | 0.0 | X-axis compensation |
| Y | number | No | 0.0 | Y-axis compensation |
| Z | number | No | 0.0 | Z-axis compensation |
autoFeed Object Parameters
| Parameter | Type | Required | Default | Description |
|---|---|---|---|---|
| value | number | No | 0.0 | Auto compensation value |
| cycle | number | No | 0 | Auto compensation cycle (times) |
Request Example
json
{
"robot": 1,
"craftID": 1,
"polish": {
"toolWear": 0.0,
"startToolOffset": {
"X": 0.0,
"Y": 0.0,
"Z": 0.0
},
"endToolOffset": {
"X": 0.0,
"Y": 0.0,
"Z": 0.0
},
"autoFeed": {
"value": 0.0,
"cycle": 0
}
}
}2. Query Grinding Process Parameters
0x4602 POLISH_PARAM_INQUIRE
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | number | Yes | Robot number |
| craftID | number | Yes | Process number (range: 1-9) |
Request Example
json
{
"robot": 1,
"craftID": 1
}3. Return Grinding Process Parameters
0x4603 POLISH_PARAM_RESPOND
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| robot | number | Robot number |
| craftID | number | Process number |
| polish | object | Grinding parameter object (same structure as 0x4601) |
polish Object Parameters
| Parameter | Type | Description |
|---|---|---|
| toolWear | number | Tool wear compensation |
| startToolOffset | object | Start tool offset (X, Y, Z) |
| endToolOffset | object | End tool offset (X, Y, Z) |
| autoFeed | object | Auto compensation (value, cycle) |
Response Example
json
{
"robot": 1,
"craftID": 1,
"polish": {
"toolWear": 0.0,
"startToolOffset": {
"X": 0.0,
"Y": 0.0,
"Z": 0.0
},
"endToolOffset": {
"X": 0.0,
"Y": 0.0,
"Z": 0.0
},
"autoFeed": {
"value": 0.0,
"cycle": 0
}
}
}🤖 AI assistants / automation: start with the Agent Development Guide and Pre-generation Checklist (Chinese); machine-readable entry: /llms.txt; plain-text version: swap .html for .md in the URL