1. Motion Control

---

Table of Contents

• Robot Motion
• Robot Settings
• External Axis Motion
• External Axis Settings
• Force Functions
• Queue Mode Motion Communication
• Calibration
• 3D Mouse Control

---

Robot Motion

Robot Run Status Query and Response

Teach Pendant Queries Robot Run Status

Command Word: 0x2304

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
jobfilename	string	Yes	Job file name (excluding extension)
suffix	string	Yes	File extension: .JBR main program/.JBP background local program/.JBPG background global program

Request Example:

{
  "robot": 1,
  "jobfilename": "AAA",
  "suffix": ".JBR"
}

Controller Replies Robot Run Status

Command Word: 0x9103

Response Parameters:

Parameter	Type	Description
robot	int	Robot number, range [1, 4]
status	int	Run status: 0-stopped, 1-paused, 2-running
continueRun	int	Whether breakpoint execution exists: 0/1
currentRun	bool	Whether current line execution exists: false/true
mainProgramRun	int	Whether main program is running: 0/1

Response Example:

{
  "robot": 1,
  "status": 0,
  "continueRun": 0,
  "currentRun": false,
  "mainProgramRun": 0
}

---

Robot Motion Control

Robot Joint Motion MOVJ

Command Word: 0x4501

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed percentage, range [1, 100]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
pos	double[7]	Yes	Target position, first 7 values are robot body target position, last 5 are external axis target positions

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
}

Robot Linear Motion MOVL

Command Word: 0x4502

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed mm/s, range [1, 1000]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
pos	double[7]	Yes	Target position, first 7 values are robot body target position, last 5 are external axis target positions

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
}

Robot Circular Motion MOVC

Command Word: 0x4503

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed mm/s, range [1, 1000]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
isFull	bool	Yes	false-MOVC, true-MOVCA
posOne	double[7]	Yes	Arc start point, robot body point
posTwo	double[7]	Yes	Arc intermediate point, robot body point
posThree	double[7]	Yes	Arc target point, robot body point

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "isFull": false,
  "posOne": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
  "posTwo": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
  "posThree": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
}

Robot Spline Motion MOVS

Command Word: 0x4504

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed mm/s, range [1, 1000]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
size	int	Yes	Number of spline points, requires at least 4 points
pos	double[][7]	Yes	Spline trajectory points, two-dimensional array

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "size": 4,
  "pos": [
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
  ]
}

---

Move to Target Point

Move to Target Point

Command Word: 0x3003 GO_POSITION

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
positionName	string	Yes	Target point name: SetPosition_EntrancePoint/SetPosition_AuxiliaryPoint/SetPosition_JobPoint
RobotPos	object	Yes	Robot position object

RobotPos Internal Parameters:

Parameter	Type	Description
ctype	int	Type: NONE_TYPE=0/P_TYPE/E_TYPE/RP_TYPE/AP_TYPE/GP_TYPE/GE_TYPE
data	double[21]	Position data array, see description below
key	string	Variable type
paraVarData	array	Variable array

data Array Description:

Index Position	Description
1st, 2nd	Coordinate type: 0,0-Joint; 1,1-Cartesian; 2,1-Tool; 3,1-User
3rd	Left/right hand: 1-left, 2-right, 0-none (default 0)
4th, 5th, 6th, 7th	Reserved, default 0
8th-14th	Robot body coordinate values (7 values): under joint coordinates are axis 1-6 angle values, under other coordinates are x,y,z,a,b,c
15th-19th	External axis coordinate values (up to 5 external axes, padded with zeros if insufficient)

Request Example:

{
  "robot": 1,
  "positionName": "SetPosition_JobPoint",
  "RobotPos": {
    "ctype": 0,
    "key": "",
    "data": [1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.141590, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    "paraVarData": [
      {"data": 1.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 1.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 6.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 6.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 3.141590, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""}
    ]
  }
}

Note: No corresponding instruction in the program

Move to Job File Point

Command Word: 0x3005 GO_JOBFILEPOSITION

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
jobName	string	Yes	Job file name
suffixname	string	Yes	Job file extension (e.g., .JBR)
posName	string	Yes	Point name

Request Example:

{
  "robot": 1,
  "jobName": "Q1",
  "suffixname": ".JBR",
  "posName": "P001"
}

Move to User Coordinate Calibration Point

Command Word: 0x3006 GO_USERCALIBRATIONPOS

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
userNum	int	Yes	User number
posType	int	Yes	Point type: 0-origin, 1-X value, 2-Y value

Request Example:

{
  "robot": 1,
  "userNum": 1,
  "posType": 0
}

Move to Reset Point

Command Word: 0x3007 GO_RESET_POSITION

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

Return to Zero Command

Return to Zero Command

Command Word: 0x3002 GO_HOME

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1-4)
type	int	Yes	Return to zero type: 0-Robot return to zero, 1-External axis return to zero

Request Example:

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

---

Robot Settings

Jog Speed Settings

Set Joint Axis Jog Speed

Command Word: 0x2604 JOG_JOINTPARAMETER_SET

Request Parameters:

Parameter	Type	Required	Description
AxisNum	int	Yes	Joint axis number
minTrajectTime.minAccTime	float	Yes	Minimum acceleration time
minTrajectTime.minDecTime	float	Yes	Minimum deceleration time
MaxSpeed	float	Yes	Maximum jog speed of joint axis, unit: degree°/s
MaxAcc	float	Yes	Jog acceleration of joint axis, unit: degree°/s²

Request Example:

{
  "AxisNum": 1,
  "minTrajectTime": {
    "minAccTime": 0.10,
    "minDecTime": 0.10
  },
  "MaxSpeed": 10,
  "MaxAcc": 10
}

Query Joint Axis Jog Speed

Send Command Word: 0x2605 JOG_JOINTPARAMETER_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
AxisNum	int	Yes	Joint axis number

Response Command Word: 0x2606 JOG_JOINTPARAMETER_RESPOND

Response Parameters:

Parameter	Type	Description
AxisNum	int	Joint axis number
MaxSpeed	float	Maximum jog speed of joint axis, unit: degree°/s
MaxAcc	float	Jog acceleration of joint axis, unit: degree°/s²

Response Example:

{
  "AxisNum": 1,
  "MaxSpeed": 10,
  "MaxAcc": 10
}

Set Cartesian Jog Speed

Command Word: 0x2607 JOG_RECTPARAMETER_SET

Request Parameters:

Parameter	Type	Required	Description
MaxSpeed	float	Yes	Maximum jog speed of joint axis, unit: mm/s
MaxAcc	float	Yes	Jog acceleration of joint axis, unit: mm/s²

Request Example:

{
  "MaxSpeed": 10,
  "MaxAcc": 10
}

Query Cartesian Jog Speed

Send Command Word: 0x2608 JOG_RECTPARAMETER_INQUIRE

data: empty

Response Command Word: 0x2609 JOG_RECTPARAMETER_RESPOND

Response Parameters:

Parameter	Type	Description
MaxSpeed	float	Maximum jog speed of joint axis, unit: mm/s
MaxAcc	float	Jog acceleration of joint axis, unit: mm/s²

Response Example:

{
  "MaxSpeed": 10,
  "MaxAcc": 10
}

---

Jog Sensitivity Settings

Set Jog Sensitivity

Command Word: 0x260A JOG_SENSITIVITY_SET

Request Parameters:

Parameter	Type	Required	Description
Sensitivity	float	Yes	Sensitivity, unit: degree, range: 0.001 - 1

Request Example:

{
  "Sensitivity": 0.001
}

Query Jog Sensitivity

Send Command Word: 0x260B JOG_SENSITIVITY_INQUIRE

data: empty

Response Command Word: 0x260C JOG_SENSITIVITY_RESPOND

Response Parameters:

Parameter	Type	Description
Sensitivity	float	Sensitivity, unit: degree, range: 0.001 - 1

Response Example:

{
  "Sensitivity": 0.001
}

---

Current Position Acquisition

Coordinate Mode Description

Coordinate Mode Value	Description
-1	Controller current coordinate
0	Joint (Joint)
1	Cartesian (Cart)
2	Tool (Tool)
3	User (User)
4	Motor position

Get Current Position

Send Command Word: 0x2A02 CURRENTPOS_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1, 2, 3, 4)
coord	int	Yes	Coordinate mode: -1-Controller current coordinate, 0-Joint, 1-Cartesian, 2-Tool, 3-User, 4-Motor position

Request Example:

{
  "robot": 1,
  "coord": 2
}

Response Command Word: 0x2A03 CURRENTPOS_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number (1, 2, 3, 4)
deg	int	Whether it is ACS coordinate system; 0: yes; 1: no
pos	array	Radian point values, coordinate values stored in 7 digits under joint coordinates. First six values are J1~J6 axis angle values (degrees) or Cartesian/Tool/User coordinates XYZ (millimeters), values four to six are ABC coordinate values (radians), seventh value reserved
posDeg	array	Angle point values, ABC radian values under Cartesian/Tool/User coordinates converted to angle values, other state values are consistent with pos
coord	int	Coordinate mode: -1-Controller current coordinate, 0-Joint, 1-Cartesian, 2-Tool, 3-User, 4-Motor position
configuration	int	Posture or (SCARA) left/right hand

Response Example:

{
  "robot": 1,
  "deg": 1,
  "pos": [0, 0.1, 2, 3.3, 44, 555.55, 0.0],
  "posDeg": [0.0, 0.0, 1, 2, 3.3, 44, 5.55],
  "coord": -1,
  "configuration": 1
}

Query Motor Speed

Send Command Word: 0x2A04 CURRENTVEL_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1, 2, 3, 4)

Request Example:

{
  "robot": 1
}

Response Command Word: 0x2A05 CURRENTVEL_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number (1, 2, 3, 4)
vel	array	Motor speed, 4-axis also sends six values
velSync	array	External axis motor speed
maxVel	array	Maximum motor speed
maxVelSync	array	Maximum external axis motor speed

Response Example:

{
  "robot": 1,
  "vel": [0, 0, 0, 0, 0, 0],
  "velSync": [0, 0, 0, 0, 0],
  "maxVel": [0, 0, 0, 0, 0, 0],
  "maxVelSync": [0, 0, 0, 0, 0]
}

Query Motor Torque

Send Command Word: 0x2A06 CURRENTTORQ_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1, 2, 3, 4)

Request Example:

{
  "robot": 1
}

Response Command Word: 0x2A07 CURRENTTORQ_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number (1, 2, 3, 4)
torq	array	Motor torque
theoTorq	array	Theoretical motor torque
maxTorq	array	Maximum motor torque
maxTheoTorq	array	Maximum theoretical motor torque
maxTorqSync	array	Maximum external axis motor torque
torqSync	array	External axis motor torque

Response Example:

{
  "robot": 1,
  "torq": [0, 0, 0, 0, 0, 0],
  "theoTorq": [0, 0, 0, 0, 0, 0],
  "maxTorq": [0, 0, 0, 0, 0, 0],
  "maxTheoTorq": [0, 0, 0, 0, 0, 0],
  "maxTorqSync": [0, 0, 0, 0, 0],
  "torqSync": [0, 0, 0, 0, 0]
}

---

Run Parameter Settings

Set Run Parameters

Command Word: 0x2801 INTERPOLATION_MODE_SET

Request Parameters:

Parameter	Type	Required	Description
absolutePosResolution	float	Yes	Absolute position resolution, range: 0.0001 - 0.1 degrees
interpolationMethod	int	Yes	Robot interpolation method: 0-S-curve, 1-Trapezoidal, 2-Jerk interpolation
runDelayTime	int	Yes	Run delay time, range: 500 - 20000 ms
stopTime	int	Yes	Pause time, range: 240 - 2000 ms

Request Example:

{
  "absolutePosResolution": 0.010,
  "interpolationMethod": 0,
  "runDelayTime": 500,
  "stopTime": 240
}

Query Run Parameters

Send Command Word: 0x2802 INTERPOLATION_MODE_INQUIRE

data: none

Response Command Word: 0x2803 INTERPOLATION_MODE_RESPOND

Response Parameters:

Parameter	Type	Description
absolutePosResolution	float	Absolute position resolution, unit: degrees
interpolationMethod	int	Robot interpolation method: 0-S-curve, 1-Trapezoidal, 2-Jerk interpolation
runDelayTime	int	Run delay time, unit: ms
stopTime	int	Pause time, unit: ms

Response Example:

{
  "absolutePosResolution": 0.010,
  "interpolationMethod": 0,
  "runDelayTime": 500,
  "stopTime": 240
}

---

Query Robot Type and Count

Query Robot Type

Send Command Word: 0x2E02 ROBOT_TYPE_INQUIRE

data: null

Response Command Word: 0x2E03 ROBOT_TYPE_RESPOND

Response Parameters:

Parameter	Type	Description
type	int	Current robot type

Response Example:

{
  "type": 1
}

Robot Type Reference Table:

Type Value	Description
0	None
1	General 6-axis serial multi-joint
2	4-axis SCARA
3	4-axis palletizing
4	4-axis serial multi-joint
5	Single-axis
6	5-axis serial multi-joint
7	6-axis collaborative
8	2-axis SCARA
9	3-axis SCARA
10	3-axis Cartesian
11	3-axis special type 1
12	7-axis serial multi-joint
13	SCARA special type 1
14	4-axis palletizing screw
...	More types omitted

Query Robot Count

Send Command Word: 0x2E05 ROBOT_SUM_INQUIRE

data: null

Response Command Word: 0x2E06 ROBOT_SUM_RESPOND

Response Parameters:

Parameter	Type	Description
sum	int	Robot count

Response Example:

{
  "sum": 1
}

Set Robot Communication Cycle

Command Word: 0x2E07 CONTROL_CYCLE_SET

Request Parameters:

Parameter	Type	Required	Description
controlCycle	int	Yes	Communication cycle, range: 1, 2, 4, 8, takes effect after controller restart
baudRate	string	Yes	CAN_OPEN baud rate

Request Example:

{
  "controlCycle": 1,
  "baudRate": "10K"
}

Query Robot Communication Cycle

Send Command Word: 0x2E08 CONTROL_CYCLE_INQUIRE

data: null

Response Command Word: 0x2E09 CONTROL_CYCLE_RESPOND

Response Parameters:

Parameter	Type	Description
controlCycle	int	Communication cycle

Response Example:

{
  "controlCycle": 1
}

Query Controller Function Limits

Send Command Word: 0x2E0B CONTROLLER_LIMIT_INQUIRE

data: null

Response Command Word: 0x2E0C CONTROLLER_LIMIT_RESPOND

Response Parameters:

Parameter	Type	Description
robotsum	int	Robot count
maxRobotCount	int	Maximum robot count
robottypes	object	Robot type unlock status, true-unlocked, false-locked
craft	object	Process unlock status, true-unlocked, false-locked

Response Example:

{
  "robotsum": 2,
  "maxRobotCount": 4,
  "robottypes": {
    "R_GENERAL_6S": false,
    "R_SCARA": true,
    "R_FOURAXIS_PALLET": true,
    "R_FOURAXIS": true,
    "R_GENERAL_1S": true,
    "R_GENERAL_5S": true,
    "R_GENERAL_6S_1": true,
    "R_SCARA_TWOAXIS": true,
    "R_SCARA_THREEAXIS": true,
    "R_THREE_CARTESIAN_COORDINATE": true,
    "R_THREE_CARTESIAN_COORDINATE_1": true,
    "R_GENERAL_7S": true,
    "R_SCARA_1": true,
    "R_FOURAXIS_PALLET_1": true,
    "R_FOUR_CARTESIAN_COORDINATE": true,
    "R_SIXAXIS_SPRAY_BBR": true,
    "R_FOUR_POLAR_COORDINATE_1": true,
    "R_GENERAL_6S_2": true,
    "R_GANTRY_WELD": true,
    "R_DELTA": true,
    "R_WINE_CHAMFER": true
  },
  "craft": {
    "pallet": true,
    "weld": false,
    "lasercut": true,
    "polish": true,
    "spray": true,
    "search": true,
    "pun": true,
    "vision": true
  }
}

---

External Axis Motion

Robot External Axis Joint Motion MOVJEXT

Command Word: 0x4507

Request Parameters:

Parameter	Type	Required	Description	Range
robot	int	Yes	Select robot	[1, 4]
vel	int	Yes	Speed	[1, 100], unit: %
coord	int	Yes	Coordinate system	0-Joint, 1-Cartesian, 2-User, 3-Tool
pos	double[12]	Yes	Target position: first 7 values are robot body target position, last 5 are external axis target positions	-

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0]
}

---

Robot External Axis Linear Motion MOVLEXT

Command Word: 0x4508

Request Parameters:

Parameter	Type	Required	Description	Range
robot	int	Yes	Select robot	[1, 4]
vel	int	Yes	Speed	[1, 1000], unit: mm/s
coord	int	Yes	Coordinate system	0-Joint, 1-Cartesian, 2-User, 3-Tool
pos	double[12]	Yes	Target position: first 7 values are robot body target position, last 5 are external axis target positions	-

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0]
}

---

Robot External Axis Circular Motion MOVCEXT

Command Word: 0x4509

Request Parameters:

Parameter	Type	Required	Description	Range
robot	int	Yes	Select robot	[1, 4]
vel	int	Yes	Speed	[1, 1000], unit: mm/s
coord	int	Yes	Coordinate system	0-Joint, 1-Cartesian, 2-User, 3-Tool
posOne	double[12]	Yes	Arc start point: first 7 values are robot body target position, last 5 are external axis target positions	-
posTwo	double[12]	Yes	Arc intermediate point: first 7 values are robot body target position, last 5 are external axis target positions	-
posThree	double[12]	Yes	Arc target point: first 7 values are robot body target position, last 5 are external axis target positions	-

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "posOne": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0],
  "posTwo": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0],
  "posThree": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0]
}

---

External Axis Move to Target Point

Command Word: 0x3004 (GO_SYNCPOSITION)

RobotPos Structure Description

Field	Type	Description
ctype	int	P type: NONE_TYPE=0, P_TYPE, E_TYPE, RP_TYPE, AP_TYPE, GP_TYPE, GE_TYPE
data	double[21]	Position data array, see array index description below
key	string	Variable type
paraVarData	array	Variable data array

data Array Index Description

Index Position	Meaning	Description
0, 1	Coordinate system identifier	0 0-Joint, 1 1-Cartesian, 2 1-Tool, 3 1-User
2	Left/right hand	1-left, 2-right, 0-none (default 0)
3, 4, 5, 6	Reserved	Default 0
7 ~ 13	Robot body coordinates	7 values, under joint coordinates represents axis 1-6 angle values, under other coordinates represents x,y,z,a,b,c
14 ~ 18	External axis coordinates	Supports up to 5 external axes, only joint values, padded with zeros if insufficient

Request Example:

{
  "RobotPos": {
    "ctype": 0,
    "data": [1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.141590, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    "key": "",
    "paraVarData": [
      {"data": 1.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 1.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 6.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 6.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 3.141590, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""}
    ]
  },
  "robot": 1
}

---

External Axis Settings

1. Positioner Coordinate Correction Calculation Settings

Command ID: 0x7001 SYNCPOSITIONER_CALIBRATION_SET

Description: Positioner coordinate correction calculation settings, send the following command

Request Parameters:

Parameter	Type	Required	Description
calibrateNum	int	Yes	Positioner group number, available values: 1, 2, 3

Request Example:

{
  "calibrateNum": 1
}

Controller Response Command ID: 0x7004 SYNCPOSITIONER_CALIBRATION_RESULT

Response Parameters:

Parameter	Type	Description
result	bool	Whether external axis data calculation succeeded

Response Example:

{
  "result": true
}

---

2. Calibration Point Coordinates

Command ID: 0x7002 SYNCPOSITIONER_CALIBRATION_INQUIRE

Description: Calibration point coordinates, send the following command

Request Parameters:

Parameter	Type	Required	Description
syncPositionerNum	int	Yes	Positioner group number, available values: 1, 2, 3
pointNum	int	Yes	Range: 0~3 or 5

Request Example:

{
  "syncPositionerNum": 1,
  "pointNum": 0
}

Controller Response Command ID: 0x7003 SYNCPOSITIONER_CALIBRATION_RESPOND

Response Parameters:

Parameter	Type	Description
syncPositionerNum	int	Positioner group number, available values: 1, 2, 3
pointNum	int	Range: 0~3 or 5
pos	array	Current point

Response Example:

{
  "syncPositionerNum": 1,
  "pointNum": 0,
  "pos": [0, 0, 0, 0, 0, 0]
}

---

3. Query All External Axis Calibration Results

Command ID: 0x7005 SYNCPOSITIONER_TYPEANDCALIBRATIONRESULT_INQUIRE

Description: Query all external axis calibration results

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

Response Command ID: 0x7006 SYNCPOSITIONER_TYPEANDCALIBRATIONRESULT_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number
calibrateResult	array	Whether calibrated, array indicates whether external axis group numbers are calibrated
syncType	array	Synchronization type

Response Example:

{
  "robot": 1,
  "calibrateResult": [false, false, true],
  "syncType": [1, 1, 1]
}

---

4. Calibration Result Query

Command ID: 0x7007 SYNCPOSITIONER_COORD_INQUIRE

Description: Calibration result query (teach pendant does not have this function)

Request Parameters:

Parameter	Type	Required	Description
syncPositionerNum	int	Yes	Positioner group number
coordNum	int	Yes	Get calibration result

Request Example:

{
  "syncPositionerNum": 1,
  "coordNum": 0
}

Response Command ID: 0x7008 SYNCPOSITIONER_COORD_RESPOND

Response Parameters:

Parameter	Type	Description
syncPositionerNum	int	Positioner group number
coordNum	int	Calibration result number
pos	array	Current point

Response Example:

{
  "syncPositionerNum": 1,
  "coordNum": 1,
  "pos": [0, 0, 0, 0, 0, 0]
}

---

5. Set Current Collaborative External Axis Group Number

Command ID: 0x7009 SYNCPOSITIONER_COORDNUM_SWITCH

Description: Set current collaborative external axis group number

Request Parameters:

Parameter	Type	Required	Description
curSyncPositionerNum	int	Yes	Current collaborative external axis group number

Request Example:

{
  "curSyncPositionerNum": 3
}

Query Current Collaborative External Axis Group Number:

Command ID: 0x700A SYNCPOSITIONER_COORDNUM_INQUIRE

Description: No data needs to be sent

Controller Response Command ID: 0x700B SYNCPOSITIONER_COORDNUM_RESPOND

Response Parameters:

Parameter	Type	Description
curSyncPositionerNum	int	Current collaborative external axis group number

Response Example:

{
  "curSyncPositionerNum": 2
}

---

6. Set Ground Track Parameters

Command ID: 0x700D SYNCTRACK_SET

Description: Set ground track parameters, teach pendant sends the following command

Request Parameters:

Parameter	Type	Required	Description
calibrateResult	bool	Yes	Whether collaborative
xConversionRatio	float	Yes	X direction conversion ratio
yConversionRatio	float	Yes	Y direction conversion ratio
zConversionRatio	float	Yes	Z direction conversion ratio

Request Example:

{
  "calibrateResult": true,
  "xConversionRatio": 1.0,
  "yConversionRatio": 1.0,
  "zConversionRatio": 1.0
}

Query Command ID: 0x700E SYNCTRACK_INQUIRE

Controller Response Command ID: 0x700F SYNCTRACK_RESPOND

Response Example:

{
  "calibrateResult": true,
  "xConversionRatio": 1.0,
  "yConversionRatio": 1.0,
  "zConversionRatio": 1.0
}

---

7. Current Position Query

Command ID: 0x7012 SYNC_POS_INQUIRE

Description: External axis settings interface, teach pendant sends the following command

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
coord	int	Yes	Coordinate mode - -1: Controller current coordinate - 0: Joint - 1: Cartesian - 2: Tool - 3: User

Request Example:

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

Controller Response Command ID: 0x7013 SYNC_POS_RESPOND

Description: Reset point settings interface, controller sends when receiving current position query

Response Parameters:

Parameter	Type	Description
robot	int	Robot number
coord	int	Coordinate mode - -1: Controller current coordinate - 0: Joint - 1: Cartesian - 2: Tool - 3: User
configuration	int	Posture or left/right hand
pos	array	Current position (radians)
posDeg	array	Current position (degrees)
posSync	array	External axis current position

Response Example:

{
  "robot": 1,
  "coord": 0,
  "configuration": 1,
  "pos": [0, 0.1, 2, 3.3, 44, 555.55, 66.6, 77.77],
  "posDeg": [0, 0.1, 2, 3.3, 44, 555.55, 66.6, 77.77],
  "posSync": [0, 0.1, 2, 3.3, 44, 555.55, 66.6, 77.77]
}

---

8. Dual-Robot Collaboration Enable

Set Dual-Robot Collaboration Enable Command ID: 0x7015 COOPERATIVE_SET

Request Parameters:

Parameter	Type	Required	Description
cooperativeRobot	int	Yes	Collaboration setting - 0: No collaboration - 1: Collaboration

Request Example:

{
  "cooperativeRobot": 0
}

Get Collaboration Status Command ID: 0x7016 COOPERATIVE_INQUIRE

Response Collaboration Status Command ID: 0x7017 COOPERATIVE_RESPOND

Response Parameters:

Parameter	Type	Description
cooperativeRobot	int	Collaboration status - 0: No collaboration - 1: Collaboration

Response Example:

{
  "cooperativeRobot": 0
}

---

9. External Axis Joint Parameter Settings

Command ID: 0x7021 JOINTPARAMETER_SYNCPOSITIONER_SET

Description: External axis joint parameter settings

Single-Axis Positioner

Request Example:

{
  "Joint": [
    {
      "BackLash": 0.0,
      "DeRatedVel": -30000.0,
      "Direction": 1.0,
      "EncoderResolution": 17.0,
      "MaxAcc": 1.0,
      "MaxDeRotSpeed": -1.0,
      "MaxDecel": -1.0,
      "MaxRotSpeed": 1.0,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "NegSWLimit": -360.0,
      "PosSWLimit": 720.0,
      "RatedDeRotSpeed": -5000.0,
      "RatedRotSpeed": 5000.0,
      "RatedVel": 30000.0,
      "ReducRatio": 1.0,
      "syncAxisNum": 1,
      "syncGroupNum": 1
    }
  ],
  "syncGroupNum": 1
}

Dual-Axis Positioner

Request Example:

{
  "Joint": [
    {
      "BackLash": 0.0,
      "DeRatedVel": -18000.0,
      "Direction": 1.0,
      "EncoderResolution": 17.0,
      "MaxAcc": 1.0,
      "MaxDeRotSpeed": -1.0,
      "MaxDecel": -1.0,
      "MaxRotSpeed": 1.0,
      "NegSWLimit": -100.0,
      "PosSWLimit": 100.0,
      "RatedDeRotSpeed": -3000.0,
      "RatedRotSpeed": 3000.0,
      "RatedVel": 18000.0,
      "ReducRatio": 1.0,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "syncAxisNum": 1,
      "syncGroupNum": 2
    },
    {
      "BackLash": 0.0,
      "DeRatedVel": -12000.0,
      "Direction": -1.0,
      "EncoderResolution": 17.0,
      "MaxAcc": 1.0,
      "MaxDeRotSpeed": -1.0,
      "MaxDecel": -1.0,
      "MaxRotSpeed": 1.0,
      "NegSWLimit": -80.0,
      "PosSWLimit": 80.0,
      "RatedDeRotSpeed": -2000.0,
      "RatedRotSpeed": 2000.0,
      "RatedVel": 12000.0,
      "ReducRatio": 1.0,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "syncAxisNum": 2,
      "syncGroupNum": 2
    }
  ],
  "syncGroupNum": 2
}

Joint Parameter Description:

Parameter	Type	Description
BackLash	float	Gear backlash
DeRatedVel	float	Rated negative velocity
Direction	float	Direction: 1.0 indicates forward
EncoderResolution	float	Encoder resolution (bits)
MaxAcc	float	Maximum acceleration
MaxDeRotSpeed	float	Maximum reverse rotation speed
MaxDecel	float	Maximum deceleration
MaxRotSpeed	float	Maximum forward rotation speed
maxJerkAcc	float	Maximum jerk acceleration
maxJerkDec	float	Maximum jerk deceleration
NegSWLimit	float	Negative limit angle
PosSWLimit	float	Positive limit angle
RatedDeRotSpeed	float	Rated reverse rotation speed
RatedRotSpeed	float	Rated forward rotation speed
RatedVel	float	Rated velocity
ReducRatio	float	Joint reduction ratio
syncAxisNum	int	Axis number
syncGroupNum	int	Synchronization group number

Root Level Parameter Description:

Parameter	Type	Description
syncGroupNum	int	Synchronization group number

Query Joint Parameters Command ID: 0x7022 JOINTPARAMETER_SYNCPOSITIONER_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
syncGroupNum	int	Yes	Synchronization group number

Request Example:

{
  "syncGroupNum": 1
}

Joint Parameter Response Command ID: 0x7023 JOINTPARAMETER_SYNCPOSITIONER_RESPOND

Description: Same as 0x7021

---

10. External Axis Jog Joint Speed Settings

Command ID: 0x7024 JOG_JOINTPARAMETER_SYNCPOSITIONER_SET

Description: External axis jog joint speed settings

---

Force Functions

1. Collision Detection

Collision Detection Switch Settings

Field	Type	Description
0x7406	COLLISION_DETECTION_SET

Request Parameters:

Parameter	Type	Required	Description
switch	bool	Yes	Collision detection switch

Request Example:

{
  "switch": true
}

Get Collision Detection Switch Status

Field	Type	Description
0x7407	COLLISION_DETECTION_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x7408	COLLISION_DETECTION_RESPOND

Response Parameters:

Parameter	Type	Description
is_identification	bool	Identification status
restrart_switch	bool	Restart switch
switch	bool	Collision detection switch

Response Example:

{
  "is_identification": true,
  "restrart_switch": true,
  "switch": true
}

Collision Detection Parameter Settings

Field	Type	Description
0x7409	COLLISION_DETECTION_PARAM_SET

Request Parameters:

Parameter	Type	Required	Description
Co_De_para	array[double]	Yes	Thresholds, array length 6
error_enable_time	double	Yes	Error allow time
pos_delay_time	double	Yes	Command position response time

Request Example:

{
  "Co_De_para": [3.0, 4.0, 5.0, 6.0, 7.0, 8.0],
  "error_enable_time": 2.0,
  "pos_delay_time": 1.0
}

Get Collision Detection Parameters

Field	Type	Description
0x740A	COLLISION_DETECTION_PARAM_INQUIRE

Request Parameters: None

Controller Response Command Word: 0x740B COLLISION_DETECTION_PARAM_RESPOND

Response Parameters: Same as 0x7409

---

2. Torque Feedforward

Torque Feedforward Switch Settings

Field	Type	Description
0x740C	TORQ_FEEDBACK_SET

Request Parameters:

Parameter	Type	Required	Description
torqFeedback	bool	Yes	Torque feedforward switch

Request Example:

{
  "torqFeedback": true
}

Query Torque Feedforward Status

Field	Type	Description
0x740D	TORQ_FEEDBACK_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x740E	TORQ_FEEDBACK_RESPOND

Response Parameters: Same as 0x740C

---

3. Drag Teaching

Query Drag Teaching

Field	Type	Description
0x7501	DRAG_TRAJ_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x7502	DRAG_TRAJ_RESPOND

Response Parameters:

Parameter	Type	Required	Description
TrajName	array[string]	Yes	Trajectory name list

Response Example:

{
  "TrajName": ["RRR", "TTT"]
}

Drag Teaching Parameter Settings

Field	Type	Description
0x7504	DRAG_PARAM_SET

Request Parameters:

Parameter	Type	Required	Description
DecareLimit	double	Yes	Cartesian space linear velocity limit
JointVelLimit	double	Yes	Joint space velocity limit
drag_mode	int	Yes	Drag mode: 0-Free drag, 1-Position drag, 2-Posture drag
frictionOffset	array[double]	Yes	Friction compensation correction coefficients for joints 1-6
dragCoefficient	array[double]	Yes	Joint over-limit resistance coefficient, length 6, range [1,100]

Request Example:

{
  "DecareLimit": 1.0,
  "JointVelLimit": 2.0,
  "drag_mode": 0,
  "frictionOffset": [3.0, 3.0, 3.0, 3.0, 3.0, 3.0],
  "dragCoefficient": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0]
}

Get Drag Teaching Parameters

Field	Type	Description
0x7505	DRAG_PARAM_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x7506	DRAG_PARAM_RESPOND

Response Parameters: Same as 0x7504

---

4. Drag Trajectory Related

Drag Teaching Trajectory Playback Parameter Settings

Field	Type	Description
0x7507	DRAG_TRAJ_PARAM_SET

Request Parameters:

Parameter	Type	Required	Description
MaxSamplingNum	double	Yes	Maximum sampling points
SamplingInterval	double	Yes	Sampling interval
Start	bool	Yes	false-stop, true-start

Request Example:

{
  "MaxSamplingNum": 3000.0,
  "SamplingInterval": 0.030,
  "Start": false
}

Query Drag Trajectory Parameters

Field	Type	Description
0x7508	DRAG_TRAJ_PARAM_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x7509	DRAG_TRAJ_PARAM_RESPOND

Response Parameters: Same as 0x7507

Query Whether Trajectory Is Being Recorded

Field	Type	Description
0x750A	DRAG_TRAJ_RECORD_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x750B	DRAG_TRAJ_RECORD_RESPOND

Response Parameters:

Parameter	Type	Required	Description
record	bool	Yes	Whether drag trajectory is being recorded

Response Example:

{
  "record": true
}

Trajectory Playback

Field	Type	Description
0x750C	DRAG_TRAJ_PLAYBACK

Request Parameters:

Parameter	Type	Required	Description
trajName	string	Yes	Trajectory name
vel	int	Yes	Trajectory playback speed, teach pendant fixed sends 100

Request Example:

{
  "trajName": "",
  "vel": 100
}

Save Trajectory

Field	Type	Description
0x750D	DRAG_TRAJ_SAVE

Request Parameters:

Parameter	Type	Required	Description
TrajName	string	Yes	Trajectory name

Request Example:

{
  "TrajName": "SSSSS"
}

Delete Trajectory

Field	Type	Description
0x750E	DRAG_TRAJ_DELETE

Request Parameters:

Parameter	Type	Required	Description
TrajName	string	Yes	Trajectory name

Request Example:

{
  "TrajName": "SSSSS"
}

Drag Mode Settings

Field	Type	Description
0x750F	DRAG_MODE

Request Parameters:

Parameter	Type	Required	Description
mode	int	Yes	Drag mode: 0-None, 1-3D mouse, 2-Torque
port	int	Yes	External trigger signal port number
value	int	Yes	External trigger signal value

Request Example:

{
  "mode": 2,
  "port": 3,
  "value": 1
}

Query Drag Mode

Field	Type	Description
0x7510	DRAG_MODE_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x7511	DRAG_MODE_RESPOND

Response Parameters: Same as 0x750F

---

5. External Buttons

Query Function Control Parameters

Field	Type	Description
0x9114	FUNCTIONALCONTROL_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x9115	FUNCTIONALCONTROL_RESPOND

Array index description: 0-Drag mode, 1-Jog mode, 2-Start trajectory acquisition, 3-Stop trajectory acquisition, 4-Start trajectory playback, 5-Power on, 6-Power off, 7-Gripper open, 8-Gripper close, 9-Save trajectory

Response Parameters:

Parameter	Type	Required	Description
IoInPortArr	array[int]	Yes	Trigger port (DIN), array length 11
hardwareTypeArr	array[int]	Yes	Hardware type: 0-IO, array length 11
modeArr	array[int]	Yes	Trigger method: 0-Long press trigger port, 1-Short press trigger port, array length 11
parameterArr	array[int]	Yes	Parameter: 0-Trigger when port is off, 1-Trigger when port is on, array length 11

Response Example:

{
  "IoInPortArr": [1, 2, 3, 4, 5, 0, 6, 7, 8, 9, 10],
  "hardwareTypeArr": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "modeArr": [0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0],
  "parameterArr": [0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0]
}

Status Prompt Query

Field	Type	Description
0x9116	STATUSPROMPT_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x9117	STATUSPROMPT_RESPOND

Array index description: 0-Drag mode, 1-Jog mode, 2-Start trajectory acquisition, 3-Stop trajectory acquisition, 4-Start trajectory playback, 5-Power on, 6-Power off, 7-Gripper open, 8-Gripper close

Response Parameters:

Parameter	Type	Required	Description
IoDoutPortArr	array[int]	Yes	Trigger port (DOUT), array length 11
hardwareTypeArr	array[int]	Yes	Hardware type: 0-IO, array length 11
parameterArr	array[int]	Yes	Parameter: 0-Trigger port off, 1-Trigger port on, 2-Blink, array length 11

Response Example:

{
  "IoDoutPortArr": [1, 2, 3, 4, 5, 0, 6, 7, 0, 0, 0],
  "hardwareTypeArr": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "parameterArr": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
}

Set External Button Parameters

Field	Type	Description
0x9118	EXTERNKEYPARA_SET

Request Parameters:

Parameter	Type	Required	Description
_isFunctionalControl	bool	Yes	true-Set function control parameters, false-Set status prompt parameters
hardwareTypeArr	array[int]	Yes	Hardware type: 0-IO, array length 11
isClearTrack	int	Yes	Whether to clear trajectory after saving
modeArr	array[int]	Yes	Trigger method: 0-Long press trigger port, 1-Short press trigger port, array length 11
parameterArr	array[int]	Yes	Parameters, array length 11
portArr	array[int]	Yes	Trigger ports, array length 11

Request Example:

{
  "_isFunctionalControl": true,
  "hardwareTypeArr": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "isClearTrack": 1,
  "modeArr": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "parameterArr": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "portArr": [1, 2, 3, 4, 5, 0, 6, 7, 8, 9, 10]
}