iNexBot Open Platform

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Remote Program ​

Reservation Execution Status ​

Sent when the host computer queries the reservation execution status on the remote mode interface.

Command Word: 0x5500

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]

Request Example ​

json
{
    "robot": 1
}

Controller replies with reservation execution status query result.

Command Word: 0x5501

Response Parameters ​

ParameterTypeDescription
robotintSelect robot, range [1, 4]
currentobjectCurrent task status
current.stationintStation number
current.namestringProgram name
current.runtimeintRun time
current.timesintRun count
current.countintCompleted run count
current.statusintStatus: 0-No reservation, 1-Reserving, 2-Running, 3-Reserved, 4-Program paused
queuearrayReservation queue
queue[].stationintStation number
queue[].namestringProgram name
queue[].timesintRun count
queue[].countintCompleted run count
queue[].statusintStatus

Response Example ​

json
{
    "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
        }
    ]
}

Remote Status ​

Host computer sends remote control setting.

Command Word: 0x5510

Request Parameters ​

ParameterTypeRequiredDescription
remotectlboolYesRemote control status

Request Example ​

json
{
    "remotectl": false
}

Host computer sends remote control query.

Command Word: 0x5511

date: none

Controller replies to query.

Command Word: 0x5512

Response Parameters ​

ParameterTypeDescription
remotectlboolRemote control status

Response Example ​

json
{
    "remotectl": false
}

Remote Program ​

Host computer sends set remote program.

Command Word: 0x5520

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]
jobFilearrayYesProgram list
jobFile[].namestringYesProgram name
jobFile[].timesintYesRun count
interpolationMethodintNoInterpolation method
absolutePosResolutiondoubleNoAbsolute position resolution
stopTimeintNoPause time
runDelayTimeintNoRun delay time
remoteDefaultSpeedintNoRemote mode speed 1-100%

Request Example ​

json
{
    "robot": 1,
    "jobFile": [
        {"name": "Q1", "times": 3},
        {"name": "Q2", "times": 3},
        {"name": "", "times": 1},
        {"name": "Q4", "times": 2},
        {"name": "", "times": 1}
    ],
    "interpolationMethod": 4,
    "absolutePosResolution": 0.06,
    "stopTime": 5,
    "runDelayTime": 600,
    "remoteDefaultSpeed": 1
}

Host computer sends get remote program.

Command Word: 0x5521

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]

Request Example ​

json
{
    "robot": 1
}

Controller replies when receiving host computer program name query.

Command Word: 0x5522

Response Parameters ​

ParameterTypeDescription
robotintSelect robot, range [1, 4]
jobFilearrayProgram list
jobFile[].namestringProgram name
jobFile[].timesintRun count
remoteProgramNumintRemote program count

Response Example ​

json
{
    "jobFile": [
        {"name": "Q1", "times": 3},
        {"name": "Q2", "times": 3},
        {"name": "", "times": 1},
        {"name": "Q4", "times": 2},
        {"name": "", "times": 1},
        {"name": "", "times": 0},
        {"name": "", "times": 0},
        {"name": "", "times": 0},
        {"name": "", "times": 0},
        {"name": "", "times": 0}
    ],
    "remoteProgramNum": 10,
    "robot": 1
}

Remote Mode Parameter Settings ​

Host computer sends remote mode parameter settings.

Command Word: 0x5530

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]
waitingTimedoubleNoIO repeat trigger time
reserveIsStartintNoAuto start running after reservation IO: 0-Off, 1-On
interpolationMethodintNoInterpolation method
reserveTrgTimedoubleNoRemote mode IO reservation and start time (milliseconds)
absolutePosResolutionintNoAbsolute position resolution
stopTimeintNoPause time
runDelayTimeintNoRun delay time
remoteDefaultSpeedintNoRemote mode speed 1-100%

Request Example ​

json
{
    "robot": 1,
    "waitingTime": 1,
    "reserveIsStart": 0,
    "interpolationMethod": 4,
    "reserveTrgTime": 200,
    "absolutePosResolution": 0.06,
    "stopTime": 5,
    "runDelayTime": 600,
    "remoteDefaultSpeed": 1
}

Host computer sends remote mode parameter query.

Command Word: 0x5531

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]

Request Example ​

json
{
    "robot": 1
}

Controller replies with query result.

Command Word: 0x5532

Response Parameters ​

ParameterTypeDescription
remoteDefaultSpeedintRemote mode speed 1-100%
remoteProgramNumintRemote program count
reserveIsStartboolAuto start running after reservation IO: 0-Off, 1-On
waitingTimeintIO repeat trigger time

Response Example ​

json
{
    "remoteDefaultSpeed": 1.0,
    "remoteProgramNum": 10,
    "reserveIsStart": false,
    "waitingTime": 500
}

Remote IO Function Interface Settings ​

Host computer sends set IO function interface.

Command Word: 0x5540

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]
remoteProgramNumintYesRemote IO function count
inPortobjectNoIO trigger port binding
inPort.clearoutagekeepintNoClear power-off saved data, bound IO port: 0-None, 1-Port 1
inPort.faultResetintNoClear alarm, bound IO port
inPort.pauseintNoPause, bound IO port
inPort.startintNoStart, bound IO port
inPort.stopintNoStop, bound IO port
inValueobjectNoIO parameters
inValue.clearoutagekeepintNoClear power-off saved data, bound IO port trigger required state: 0-Low active, 1-High active
inValue.faultResetintNoClear alarm, bound IO port trigger required state
inValue.pauseintNoPause, bound IO port trigger required state
inValue.startintNoStart, bound IO port trigger required state
inValue.stopintNoStop, bound IO port trigger required state
programarrayNoProgram list
program[].portintNoPort
program[].valueintNoValue

Request Example ​

json
{
    "inPort": {
        "clearoutagekeep": 0,
        "faultReset": 0,
        "pause": 0,
        "start": 8,
        "stop": 0
    },
    "inValue": {
        "clearoutagekeep": 1,
        "faultReset": 1,
        "pause": 1,
        "start": 1,
        "stop": 1
    },
    "program": [
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1},
        {"port": 0, "value": 1}
    ],
    "remoteProgramNum": 10,
    "robot": 1
}

When querying IO function interface settings, host computer sends the following command.

Command Word: 0x5541

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]

Request Example ​

json
{
    "robot": 1
}

IO function interface, controller replies when receiving query.

Command Word: 0x5542

Response Parameters ​

ParameterTypeDescription
robotintSelect robot, range [1, 4]
remoteProgramNumintRemote IO function count
inPortobjectIO trigger port binding: 0-None, 1-Port 1
inPort.clearoutagekeepintClear power-off saved data, bound IO port
inPort.faultResetintClear alarm, bound IO port
inPort.pauseintPause, bound IO port
inPort.startintStart, bound IO port
inPort.stopintStop, bound IO port
inValueobjectIO parameters: 0-Low active, 1-High active
inValue.clearoutagekeepintClear power-off saved data, bound IO port trigger required state
inValue.faultResetintClear alarm, bound IO port trigger required state
inValue.pauseintPause, bound IO port trigger required state
inValue.startintStart, bound IO port trigger required state
inValue.stopintStop, bound IO port trigger required state
programarrayProgram list
program[].namestringProgram name
program[].portintPort
program[].valueintValue
reserveTrgTimeintIO repeat trigger mask time

Response Example ​

json
{
    "inPort": {
        "clearoutagekeep": 0,
        "faultReset": 0,
        "pause": 0,
        "start": 0,
        "stop": 0
    },
    "inValue": {
        "clearoutagekeep": 1,
        "faultReset": 1,
        "pause": 1,
        "start": 1,
        "stop": 1
    },
    "program": [
        {"name": "Q1", "port": 0, "value": 1},
        {"name": "Q2", "port": 0, "value": 1},
        {"name": "", "port": 0, "value": 1},
        {"name": "Q4", "port": 0, "value": 1},
        {"name": "", "port": 0, "value": 1},
        {"name": "", "port": 0, "value": 1},
        {"name": "", "port": 0, "value": 1},
        {"name": "", "port": 0, "value": 1},
        {"name": "", "port": 0, "value": 1},
        {"name": "", "port": 0, "value": 1}
    ],
    "remoteProgramNum": 10,
    "reserveTrgTime": 500,
    "robot": 1
}

Remote IO Status ​

Host computer sends remote status indication settings.

Command Word: 0x5550

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]
outputarrayYesOutput port list
output[].program1 ~ program10intNoOutput port number for remote IO programs 1-10
output[].program_value1 ~ program_value10intNoOutput port value for each remote IO program

Request Example ​

json
{
    "robot": 1,
    "output": [
        {
            "program1": 1,
            "program2": 2,
            "program3": 3,
            "program4": 4,
            "program5": 5,
            "program6": 6,
            "program7": 7,
            "program8": 8,
            "program9": 9,
            "program10": 10,
            "program_value1": 1,
            "program_value2": 2,
            "program_value3": 3,
            "program_value4": 4,
            "program_value5": 5,
            "program_value6": 6,
            "program_value7": 7,
            "program_value8": 8,
            "program_value9": 9,
            "program_value10": 10
        }
    ]
}

Host computer queries remote status indication settings.

Command Word: 0x5551

Request Parameters ​

ParameterTypeRequiredDescription
robotintYesSelect robot, range [1, 4]

Request Example ​

json
{
    "robot": 1
}

Controller replies with query result.

Command Word: 0x5552

Response Parameters ​

ParameterTypeDescription
robotintSelect robot, range [1, 4]
outputarrayOutput port list
output[].program1 ~ program10intOutput port number for remote IO programs 1-10
output[].program_value1 ~ program_value10intOutput port value for each remote IO program

Response Example ​

json
{
    "robot": 1,
    "output": [
        {
            "program1": 1,
            "program2": 2,
            "program3": 3,
            "program4": 4,
            "program5": 5,
            "program6": 6,
            "program7": 7,
            "program8": 8,
            "program9": 9,
            "program10": 10,
            "program_value1": 1,
            "program_value2": 2,
            "program_value3": 3,
            "program_value4": 4,
            "program_value5": 5,
            "program_value6": 6,
            "program_value7": 7,
            "program_value8": 8,
            "program_value9": 9,
            "program_value10": 10
        }
    ]
}

Remote Mode Connection Status ​

Sent when querying Modbus and external IO connection status.

Command Word: 0x5560

date: none

Returns when receiving connection status query.

Command Word: 0x5561

Response Parameters ​

ParameterTypeDescription
ModbusConnectboolModbus connection status: false-Not connected, true-Connected
ExternIOConnectboolExternal IO connection status: false-Not connected, true-Connected
typeintType: 0-NAN, 1-RTU, 2-TCP

Response Example ​

json
{
    "ModbusConnect": false,
    "ExternIOConnect": true,
    "type": 2
}

Controller sends whether job file was modified via IO (when external button triggers job file modification, controller sends to host computer).

Command Word: 0x5562

Response Parameters ​

ParameterTypeDescription
isModifyboolWhether job file was modified via IO: true-Yes, false-No

Response Example ​

json
{
    "isModify": false
}
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