Robot Settings

Jog Speed Settings

Set Joint Axis Jog Speed

Command Word: 0x2604 JOG_JOINTPARAMETER_SET

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

Parameter Description:

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

Query Joint Axis Jog Speed

Send Command Word: 0x2605 JOG_JOINTPARAMETER_INQUIRE

{
  "AxisNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
AxisNum	int	Yes	Joint axis number

Return Command Word: 0x2606 JOG_JOINTPARAMETER_RESPOND

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

Parameter Description:

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

Set Cartesian Jog Speed

Command Word: 0x2607 JOG_RECTPARAMETER_SET

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

Parameter Description:

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

Query Cartesian Jog Speed

Send Command Word: 0x2608 JOG_RECTPARAMETER_INQUIRE

data: empty

Return Command Word: 0x2609 JOG_RECTPARAMETER_RESPOND

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

Parameter Description:

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

Jog Sensitivity Settings

Set Jog Sensitivity

Command Word: 0x260A JOG_SENSITIVITY_SET

{
  "Sensitivity": 0.001
}

Parameter Description:

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

Query Jog Sensitivity

Send Command Word: 0x260B JOG_SENSITIVITY_INQUIRE

data: empty

Return Command Word: 0x260C JOG_SENSITIVITY_RESPOND

{
  "Sensitivity": 0.001
}

Parameter Description:

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

Current Position Acquisition

Coordinate Mode Description

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

Get Current Position

Send Command Word: 0x2A02 CURRENTPOS_INQUIRE

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

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1, 2, 3, 4)
coord	int	Yes	Coordinate mode: -1-controller current coordinate, 0-joint coordinate, 1-Cartesian coordinate, 2-tool coordinate, 3-user coordinate, 4-motor position

Return Command Word: 0x2A03 CURRENTPOS_RESPOND

{
  "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
}

Parameter Description:

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	Position value in radians, coordinate values stored in 7 elements under joint coordinate. The first six elements are J1~J6 axis angle values (degrees) or Cartesian/Tool/User coordinate XYZ (millimeters), elements four to six are ABC coordinate values (radians), the seventh element is reserved
posDeg	array	Position value in degrees, ABC radian values under Cartesian/Tool/User coordinate are converted to degree values, other values are consistent with pos
coord	int	Coordinate mode: -1-controller current coordinate, 0-joint coordinate, 1-Cartesian coordinate, 2-tool coordinate, 3-user coordinate, 4-motor position
configuration	int	Posture or (SCARA) left/right hand

Query Motor Speed

Send Command Word: 0x2A04 CURRENTVEL_INQUIRE

{
  "robot": 1
}

Parameter Description:

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

Return Command Word: 0x2A05 CURRENTVEL_RESPOND

{
  "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]
}

Parameter Description:

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

Query Motor Torque

Send Command Word: 0x2A06 CURRENTTORQ_INQUIRE

{
  "robot": 1
}

Parameter Description:

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

Return Command Word: 0x2A07 CURRENTTORQ_RESPOND

{
  "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]
}

Parameter Description:

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

Run Parameter Settings

Set Run Parameters

Command Word: 0x2801 INTERPOLATION_MODE_SET

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

Parameter Description:

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

Query Run Parameters

Send Command Word: 0x2802 INTERPOLATION_MODE_INQUIRE

data: none

Return Command Word: 0x2803 INTERPOLATION_MODE_RESPOND

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

Parameter Description:

Parameter	Type	Description
absolutePosResolution	float	Absolute position resolution, unit: degree
interpolationMethod	int	Robot interpolation method: 0-S-curve, 1-trapezoidal, 2-jerk interpolation
runDelayTime	int	Run delay time, unit: millisecond
stopTime	int	Pause time, unit: millisecond

Query Robot Type and Count

Query Robot Type

Send Command Word: 0x2E02 ROBOT_TYPE_INQUIRE

{
  "data": null
}

Return Command Word: 0x2E03 ROBOT_TYPE_RESPOND

{
  "type": 1
}

Parameter Description:

Parameter	Type	Description
type	int	Current robot type

Robot Type Mapping 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 with lead screw
...	More types omitted

Query Robot Count

Send Command Word: 0x2E05 ROBOT_SUM_INQUIRE

{
  "data": null
}

Return Command Word: 0x2E06 ROBOT_SUM_RESPOND

{
  "sum": 1
}

Parameter Description:

Parameter	Type	Description
sum	int	Robot count

Set Robot Communication Cycle

Command Word: 0x2E07 CONTROL_CYCLE_SET

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

Parameter Description:

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

Query Robot Communication Cycle

Send Command Word: 0x2E08 CONTROL_CYCLE_INQUIRE

{
  "data": null
}

Return Command Word: 0x2E09 CONTROL_CYCLE_RESPOND

{
  "controlCycle": 1
}

Parameter Description:

Parameter	Type	Description
controlCycle	int	Communication cycle

Query Controller Function Limit Status

Send Command Word: 0x2E0B CONTROLLER_LIMIT_INQUIRE

{
  "data": null
}

Return Command Word: 0x2E0C CONTROLLER_LIMIT_RESPOND

{
  "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
  }
}

Parameter Description:

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

robottypes Type Description:

Type Key	Description
R_GENERAL_6S	6-axis serial multi-joint
R_SCARA	4-axis SCARA
R_FOURAXIS_PALLET	4-axis linkage palletizing
R_FOURAXIS	4-axis serial multi-joint
R_GENERAL_1S	1-axis general
R_GENERAL_5S	5-axis serial multi-joint
R_GENERAL_6S_1	6-axis collaborative
R_SCARA_TWOAXIS	2-axis SCARA
R_SCARA_THREEAXIS	3-axis SCARA
R_THREE_CARTESIAN_COORDINATE	3-axis Cartesian
R_THREE_CARTESIAN_COORDINATE_1	3-axis Cartesian special type 1
R_GENERAL_7S	7-axis serial multi-joint
R_SCARA_1	4-axis SCARA special type 1
R_FOURAXIS_PALLET_1	4-axis palletizing with lead screw
R_FOUR_CARTESIAN_COORDINATE	4-axis Cartesian
R_SIXAXIS_SPRAY_BBR	6-axis spraying
R_FOUR_POLAR_COORDINATE_1	4-axis polar coordinate special type
R_GENERAL_6S_2	6-axis special type 1
R_GANTRY_WELD	Gantry welding
R_DELTA	Parallel robot
R_WINE_CHAMFER	Wine groove model

craft Process Description:

Process Key	Description
pallet	Palletizing process
weld	Welding process
lasercut	Laser cutting process
polish	Grinding process
spray	Spraying process
search	Search tracking process
pun	Stamping process
vision	Vision process

Query Slave Station List

Send Command Word: 0x2E0E SLAVETYPE_LIST_INQUIRE

data: none

Return Command Word: 0x2E0F SLAVETYPE_LIST_RESPOND

{
  "IONum": [0, 0, 0, 0, 0, 0, 1, 2],
  "servoNum": [1, 2, 3, 4, 5, 6, 0, 0],
  "slaveType": ["mt", "mt", "mt", "mt", "mt", "mt", "inexbot_IO_R4C_PWM", "mt_MSR1616A"],
  "slaveTypeEnglish": ["mt", "mt", "mt", "mt", "mt", "mt", "inexbot_IO_R4C_PWM", "mt_MSR1616A"]
}

Parameter Description:

Parameter	Type	Description
IONum	array	IO number
servoNum	array	Servo number
slaveType	array	Servo model (Chinese)
slaveTypeEnglish	array	Servo model (English) / IO model

Dual-Robot Collaboration Settings

Set Collaborative Robot Count

Command Word: 0x2E11 COROBOT_SET

{
  "cooperativeRobot": 1
}

Parameter Description:

Parameter	Type	Required	Description
cooperativeRobot	int	Yes	Collaborative robot count, 0 means none

Query Collaborative Robot Count

Send Command Word: 0x2E12 COROBOT_INQUIRE

{
  "data": null
}

Return Command Word: 0x2E13 COROBOT_RESPOND

{
  "cooperativeRobot": 1
}

Parameter Description:

Parameter	Type	Description
cooperativeRobot	int	Collaborative robot count, 0 means none

Robot Type and Mapping

Set Robot Type and Mapping

Command Word: 0x2E14 ROBOTTYPE_AXISMAP_SET

{
  "sum": 1,
  "robot": [
    {
      "robotType": "R_SCARA",
      "servoMap": [1, 2, 3, 4],
      "syncSum": 2,
      "syncGroupSum": 1,
      "syncType": [2, 0, 0],
      "syncMap": [[5, 6], [7, 8]]
    }
  ],
  "servoSum": 0
}

Parameter Description:

Parameter	Type	Required	Description
sum	int	Yes	Robot count
robot	array	Yes	Robot configuration array
robot[].robotType	string	Yes	Robot type
robot[].servoMap	array	Yes	Servo mapping
robot[].syncSum	int	Yes	External axis count
robot[].syncGroupSum	int	Yes	External axis group count
robot[].syncType	array	Yes	External axis group type
robot[].syncMap	array	Yes	External axis mapping
servoSum	int	Yes	Servo count

Query Robot Type and Mapping

Send Command Word: 0x2E15 ROBOTTYPE_AXISMAP_INQUIRE

{
  "data": null
}

Return Command Word: 0x2E16 ROBOTTYPE_AXISMAP_RESPOND

{
  "servoSum": 6,
  "sum": 1,
  "robot": [
    {
      "note": "",
      "robotType": "R_SCARA",
      "servoMap": [1, 2, 3, 4],
      "syncSum": 2,
      "syncGroupSum": 1,
      "syncType": [2, 0, 0],
      "syncMap": [[5, 6]]
    }
  ]
}

Parameter Description:

Parameter	Type	Description
servoSum	int	Servo count
sum	int	Robot count
robot	array	Robot configuration array
robot[].note	string	Remark
robot[].robotType	string	Robot type
robot[].servoMap	array	Servo mapping
robot[].syncSum	int	External axis count
robot[].syncGroupSum	int	External axis group count
robot[].syncType	array	External axis type
robot[].syncMap	array	External axis mapping

Set Driven Shaft

Command Word: 0x2E17 DRIVENSHAFT_SET

{
  "robot": [
    {
      "axis": [
        {
          "sum": 2,
          "data": [
            {
              "num": 1,
              "reducRatio": 1.0,
              "encoder": 17,
              "dir": 1
            },
            {
              "num": 1,
              "reducRatio": 1.0,
              "encoder": 17,
              "dir": 1
            }
          ]
        },
        {
          "sum": 2,
          "data": [
            {
              "num": 1,
              "reducRatio": 1.0,
              "encoder": 17,
              "dir": 1
            },
            {
              "num": 1,
              "reducRatio": 1.0,
              "encoder": 17,
              "dir": 1
            }
          ]
        }
      ],
      "sync": [
        [
          {
            "sum": 2,
            "data": [
              {
                "num": 1,
                "reducRatio": 1.0,
                "encoder": 17,
                "dir": 1
              },
              {
                "num": 1,
                "reducRatio": 1.0,
                "encoder": 17,
                "dir": 1
              }
            ]
          }
        ]
      ]
    }
  ]
}

Parameter Description:

Parameter	Type	Required	Description
robot	array	Yes	Robot driven shaft configuration
robot[].axis	array	Yes	Driven shaft configuration
robot[].axis[].sum	int	Yes	Driven shaft count
robot[].axis[].data	array	Yes	Driven shaft data
robot[].axis[].data[].num	int	Yes	Driven shaft number
robot[].axis[].data[].reducRatio	float	Yes	Reduction ratio
robot[].axis[].data[].encoder	int	Yes	Encoder bit count
robot[].axis[].data[].dir	int	Yes	Direction relative to main motor (1 or -1)
robot[].sync	array	Yes	External axis driven shaft configuration

Query Driven Shaft

Send Command Word: 0x2E18 DRIVENSHAFT_INQUIRE

data: none

Return Command Word: 0x2E19 DRIVENSHAFT_RESPOND

data: same as set

ENI Query

Query ENI Name

Send Command Word: 0x2E1B ENINAME_INQUIRE

data: none

Return Command Word: 0x2E1C ENINAME_RESPOND

{
  "ENIName": "eni-RC-6-mecat-1-1000.xml",
  "isHaveENI": 1
}

Parameter Description:

Parameter	Type	Description
ENIName	string	ENI file name
isHaveENI	int	1-ENI file detected, 0-corresponding ENI not found, -1-no ENI

DH Parameters

Set DH Parameters

Command Word: 0x3A01 DHPARAMETER_SET

{
  "CoupleCoe": {
    "Couple_Coe_1_2": 0.0,
    "Couple_Coe_2_3": 0.0,
    "Couple_Coe_3_2": 0.0,
    "Couple_Coe_3_4": 0.0,
    "Couple_Coe_4_5": 0.0,
    "Couple_Coe_4_6": 0.0,
    "Couple_Coe_5_6": 0.0
  },
  "Link": [
    {"a": 3.0, "d": 3.0},
    {"a": 3.0, "d": 0.0},
    {"a": 3.0},
    {"d": 3.0},
    {"d": 0.0, "theta": 90.0},
    {"d": 3.0}
  ],
  "upsideDown": false
}

Parameter Description:

Parameter	Type	Required	Description
CoupleCoe	object	Yes	Coupling ratio parameters
CoupleCoe.Couple_Coe_1_2	float	Yes	1/2 coupling ratio
CoupleCoe.Couple_Coe_2_3	float	Yes	2/3 coupling ratio
CoupleCoe.Couple_Coe_3_2	float	Yes	3/2 coupling ratio
CoupleCoe.Couple_Coe_3_4	float	Yes	3/4 coupling ratio
CoupleCoe.Couple_Coe_4_5	float	Yes	4/5 coupling ratio
CoupleCoe.Couple_Coe_4_6	float	Yes	4/6 coupling ratio
CoupleCoe.Couple_Coe_5_6	float	Yes	5/6 coupling ratio
Link	array	Yes	Link length configuration, varies by robot
Link[].a	float	No	DH parameter a
Link[].d	float	No	DH parameter d
Link[].theta	float	No	DH parameter theta (5th axis direction)
upsideDown	bool	Yes	Whether upside-down mounted

Query DH Parameters

Send Command Word: 0x3A02 DHPARAMETER_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Return Command Word: 0x3A03 DHPARAMETER_RESPOND

{
  "CoupleCoe": {
    "Couple_Coe_1_2": 0.0,
    "Couple_Coe_2_3": 0.0,
    "Couple_Coe_3_2": 0.0,
    "Couple_Coe_3_4": 0.0,
    "Couple_Coe_4_5": 0.0,
    "Couple_Coe_4_6": 0.0,
    "Couple_Coe_5_6": 0.0
  },
  "Link": [
    {"a": 3.0, "alpha": 90.0, "d": 3.0, "theta": 0.0},
    {"a": 3.0, "alpha": 0.0, "d": 0.0, "theta": 90.0},
    {"a": 3.0, "alpha": 90.0, "d": 0.0, "theta": 0.0},
    {"a": 0.0, "alpha": 90.0, "d": 3.0, "theta": 0.0},
    {"a": 0.0, "alpha": -90.0, "d": 0.0, "theta": 90.0},
    {"a": 0.0, "alpha": 0.0, "d": 3.0, "theta": 0.0}
  ],
  "angleToDistance": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
  "distanceToAngle": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
  "robotType": 1,
  "upsideDown": false
}

Parameter Description:

Parameter	Type	Description
CoupleCoe	object	Coupling ratio parameters
Link	array	Link length DH parameters
Link[].a	float	DH parameter a
Link[].alpha	float	DH parameter alpha
Link[].d	float	DH parameter d
Link[].theta	float	DH parameter theta
angleToDistance	array	Angle to distance conversion coefficient
distanceToAngle	array	Distance to angle conversion coefficient
robotType	int	Robot type
upsideDown	bool	Whether upside-down mounted

Joint Parameters

Set Joint Parameters

Command Word: 0x3B01 JOINTPARAMETER_SET

{
  "Joint": {
    "AxisDirection": 1.0,
    "AxisNum": 5,
    "BackLash": 0.0,
    "DeRatedVel": -36.0,
    "Direction": 1.0,
    "EncoderResolution": 17,
    "MaxAcc": 1.0,
    "MaxDeRotSpeed": -1.0,
    "MaxDecel": -1.0,
    "MaxJerkAcc": 1.0,
    "MaxJerkDec": -1.0,
    "MaxRotSpeed": 1.0,
    "NegSWLimit": -1.0,
    "PosSWLimit": 1.0,
    "RatedDeRotSpeed": -6.0,
    "RatedRotSpeed": 6.0,
    "RatedVel": 36.0,
    "ReducRatio": 1.0,
    "reduce_ratio_enable": true
  }
}

Parameter Description:

Parameter	Type	Required	Description
Joint.AxisDirection	float	Yes	Joint actual direction
Joint.AxisNum	int	Yes	Joint number (1 represents J1)
Joint.BackLash	float	Yes	Gear backlash
Joint.DeRatedVel	float	Yes	Joint rated reverse speed
Joint.Direction	float	Yes	Model direction
Joint.EncoderResolution	int	Yes	Encoder bit count
Joint.MaxAcc	float	Yes	Maximum acceleration
Joint.MaxDeRotSpeed	float	Yes	Maximum reverse rotation speed
Joint.MaxDecel	float	Yes	Joint maximum deceleration
Joint.MaxJerkAcc	float	Yes	Maximum jerk acceleration
Joint.MaxJerkDec	float	Yes	Maximum jerk deceleration
Joint.MaxRotSpeed	float	Yes	Maximum forward rotation speed
Joint.NegSWLimit	float	Yes	Joint negative limit
Joint.PosSWLimit	float	Yes	Joint positive limit
Joint.RatedDeRotSpeed	float	Yes	Rated reverse rotation speed
Joint.RatedRotSpeed	float	Yes	Rated forward rotation speed
Joint.RatedVel	float	Yes	Joint rated forward speed
Joint.ReducRatio	float	Yes	Reduction ratio
Joint.reduce_ratio_enable	bool	Yes	Whether encoder is connected through reducer

Query Joint Parameters

Send Command Word: 0x3B02 JOINTPARAMETER_INQUIRE

{
  "AxisNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
AxisNum	int	Yes	Joint number (1 represents J1)

Return Command Word: 0x3B03 JOINTPARAMETER_RESPOND

Same as 0x3B01 set format

Cartesian Parameters

Set Cartesian Coordinate Parameters

Command Word: 0x3B04 DECAREPARAMETER_SET

{
  "Decare": {
    "MaxVel": 1000.0,
    "MaxAcc": 3000.0,
    "MaxDec": 3000.0,
    "MaxJerk": 10000.0,
    "MaxAttitudeVel": 1000.0,
    "SpeedLimitMode": 0,
    "MaxSpeed": 5000.0
  }
}

Parameter Description:

Parameter	Type	Required	Description
Decare.MaxVel	float	Yes	Maximum speed, range: [1, 5000] mm/s
Decare.MaxAcc	float	Yes	Maximum acceleration, range: [1, 15] times
Decare.MaxDec	float	Yes	Maximum deceleration, range: [-15, -1] times
Decare.MaxJerk	float	Yes	Maximum jerk
Decare.MaxAttitudeVel	float	Yes	Maximum attitude motion speed, range: [1, 1000] degree/s
Decare.SpeedLimitMode	int	Yes	Speed limit mode: 0-pose, 1-position
Decare.MaxSpeed	float	Yes	Maximum speed

Query Cartesian Coordinate Parameters

Send Command Word: 0x3B05 DECAREPARAMETER_INQUIRE

data: none

Return Command Word: 0x3B06 DECAREPARAMETER_RESPOND

{
  "Decare": {
    "MaxAttitudeVel": 1000,
    "MaxAcc": 3000,
    "MaxDec": 3000,
    "MaxJerk": 10000,
    "MaxSpeed": 5000.0,
    "SpeedLimitMode": 0
  }
}

Parameter Description:

Parameter	Type	Description
Decare.MaxAttitudeVel	float	Maximum attitude motion speed
Decare.MaxAcc	float	Maximum acceleration
Decare.MaxDec	float	Maximum deceleration
Decare.MaxJerk	float	Maximum jerk
Decare.MaxSpeed	float	Maximum speed
Decare.SpeedLimitMode	int	Speed limit mode: 0-pose, 1-position

Encoder Multi-Turn Overflow Count Function

Set Encoder Overflow Parameters

Command Word: 0x3B07 ENCODE_OVERFLOW_PARM_SET

{
  "robot": 1,
  "robotAxis": [
    {
      "enable": 0,
      "axisSlaveSum": 1,
      "encode": [
        {"max": "2147483647", "mix": "-2147483648"},
        {"max": "2147483647", "mix": "-2147483648"}
      ]
    },
    {
      "enable": 0,
      "axisSlaveSum": 1,
      "encode": [
        {"max": "2147483647", "mix": "-2147483648"},
        {"max": "2147483647", "mix": "-2147483648"}
      ]
    },
    {
      "enable": 0,
      "axisSlaveSum": 1,
      "encode": [
        {"max": "2147483647", "mix": "-2147483648"},
        {"max": "2147483647", "mix": "-2147483648"}
      ]
    }
  ]
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
robotAxis	array	Yes	Robot axis configuration (use syncAxis for external axes)
robotAxis[].enable	int	Yes	Enable flag
robotAxis[].axisSlaveSum	int	Yes	Driven shaft count
robotAxis[].encode	array	Yes	Encoder configuration array
robotAxis[].encode[].max	string	Yes	Encoder maximum value
robotAxis[].encode[].mix	string	Yes	Encoder minimum value

Query Encoder Overflow Parameters

Send Command Word: 0x3B08 ENCODE_OVERFLOW_PARM_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Return Command Word: 0x3B09 ENCODE_OVERFLOW_PARM_RESPOND

data: same as 0x3B07

Encoder Reset

Encoder Reset

Command Word: 0x3301 ENCODER_RESET

{
  "axis": 0,
  "clearEncoder": true
}

Parameter Description:

Parameter	Type	Required	Description
axis	int	Yes	Joint axis number: '0' represents all axes, '1' represents axis 1, '2' represents axis 2
clearEncoder	bool	Yes	Whether to clear multi-turn value

Return Command Word: 0x3303 ENCODER_RESET_RESPOND

{
  "axis": 0,
  "result": 1,
  "robot": 1
}

Parameter Description:

Parameter	Type	Description
axis	int	Joint axis number
result	int	Operation result: 0-failed, 1-success
robot	int	Robot number

Query Encoder Undervoltage Status

Send Command Word: 0x3305 ENCODER_UNDERVOL_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1-4)

Return Command Word: 0x3306 ENCODER_UNDERVOL_RESPOND

{
  "robot": 1,
  "encoderUndervoltage": [false, true, false, true, false, true, false],
  "encoderUndervoltageSync": [false, true, false, true, false]
}

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
encoderUndervoltage	array	Undervoltage alarm status of each axis, false-no undervoltage, true-undervoltage
encoderUndervoltageSync	array	External axis undervoltage alarm status, false-no undervoltage, true-undervoltage

Zero Offset

Set Zero Offset

Command Word: 0x3307 ENCODER_ZERO_OFFSET_SET

{
  "robot": 1,
  "mode": 0,
  "axis": 0,
  "value": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
mode	int	Yes	Zero offset mode: 0-angle, 1-encoder value
axis	int	Yes	Joint axis number: '0' represents all axes
value	array	Yes	Zero offset value, corresponding to angle/encoder value of each axis, range: -360~360

Set Single-Turn Value

Command Word: 0x3308 ENCODER_ZERO_SET

{
  "robot": 1,
  "value": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1-4)
value	array	Yes	Six joint pulse values, unit: inc, range: tens digit integer

Query Single-Turn Value

Send Command Word: 0x3309 ENCODER_ZERO_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1-4)

Return Command Word: 0x330A ENCODER_ZERO_RESPOND

{
  "robot": 1,
  "value": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]
}

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
value	array	Joint position angle data, returns as many as the number of axes

Teach Pendant Get Motor Encoder Value

Get Motor Encoder Value

Send Command Word: 0x330B GET_ENCODER_VALUE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Return Command Word: 0x330C RECEIVE_ENCODER_VALUE

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

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
value	array	Motor encoder value

Preset Robot

Set Preset Robot

Command Word: 0x3E01 PRESET_ROBOT_SET

Pre-import the preset parameter file in ~/robot/preset/robot, e.g. R_SCARA_4ZSCARA.json

{
  "name": "R_SCARA",
  "presetRobotName": "4ZSCARA.json"
}

Parameter Description:

Parameter	Type	Required	Description
name	string	Yes	Robot name
presetRobotName	string	Yes	Preset robot file name

Query Preset Robot

Send Command Word: 0x3E02 PRESET_ROBOT_INQUIRE

{
  "name": "R_GENERAL_6S"
}

Parameter Description:

Parameter	Type	Required	Description
name	string	Yes	Robot name

Return Command Word: 0x3E03 PRESET_ROBOT_RESPOND

{
  "listnum": 2,
  "nameList": ["lianjiang604", "", "yyyy"]
}

Parameter Description:

Parameter	Type	Description
listnum	int	List count
nameList	array	Preset robot name list

Query Preset Parameters

Send Command Word: 0x3E04 PRESET_ROBOTPARAMETER_INQUIRE

{
  "name": "R_GENERAL_6S",
  "presetRobotName": "XX"
}

Parameter Description:

Parameter	Type	Required	Description
name	string	Yes	Robot name
presetRobotName	string	Yes	Preset robot name

Return Command Word: 0x3E05 PRESET_ROBOTPARAMETER_RESPOND

{
  "Joint": [
    {
      "axisDirection": 1.0,
      "axisNum": 1,
      "backLash": 0.0,
      "ratedReverseSpeed": -221.895679444570,
      "direction": 1.0,
      "encoderResolution": 17,
      "maxAcc": 2.50,
      "maxDeRotSpeed": -1.0,
      "maxDec": -2.50,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "maxRPM": 1.0,
      "reverseLimit": -150.0,
      "positiveLimit": 150.0,
      "ratedReverseRPM": -3000.0,
      "ratedRPM": 3000.0,
      "ratedSpeed": 221.895679444570,
      "reducRatio": 81.11920,
      "maxReverseRPM": -1,
      "isReduceRatioEnable": 1
    }
  ],
  "L1": 435.0,
  "L2": 765.5220,
  "L3": 4.3150,
  "L4": 635.120,
  "L5": 156.0,
  "L6": -0.220,
  "L7": -60.2670,
  "L8": 0.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio32": 0.0,
  "couplingRatio34": 0.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "couplingRatio56": 0.0,
  "dynamicLimit": {
    "max": 456.0,
    "min": 0.0
  },
  "fiveAxisDirection": 0,
  "mountAngle": 0,
  "angleToDistance": [0, 1, 2, 3],
  "distanceToAngle": [0, 1, 2, 3],
  "angleToDistanceSync": [0, 1, 2, 3],
  "distanceToAngleSync": [0, 1, 2, 3],
  "pitch": 0.0,
  "upsideDown": 1
}

Parameter Description:

Parameter	Type	Description
Joint	array	Joint parameter array
Joint[].axisDirection	float	Joint actual direction
Joint[].axisNum	int	Joint number
Joint[].backLash	float	Gear backlash
Joint[].ratedReverseSpeed	float	Rated reverse speed
Joint[].direction	float	Model direction
Joint[].encoderResolution	int	Encoder bit count
Joint[].maxAcc	float	Maximum acceleration
Joint[].maxDeRotSpeed	float	Rated reverse speed
Joint[].maxDec	float	Maximum deceleration
Joint[].maxJerkAcc	float	Maximum jerk acceleration
Joint[].maxJerkDec	float	Maximum jerk deceleration
Joint[].maxRPM	float	Maximum forward rotation speed
Joint[].reverseLimit	float	Negative limit
Joint[].positiveLimit	float	Positive limit
Joint[].ratedReverseRPM	float	Rated reverse rotation speed
Joint[].ratedRPM	float	Rated forward rotation speed
Joint[].ratedSpeed	float	Rated forward speed
Joint[].reducRatio	float	Reduction ratio
Joint[].maxReverseRPM	float	Maximum reverse rotation speed
Joint[].isReduceRatioEnable	int	Whether encoder is connected through reducer
L1-L8	float	Link length parameters
couplingRatio*	float	Coupling ratio parameters
dynamicLimit	object	Dynamic limit parameters
fiveAxisDirection	int	5th axis direction
mountAngle	int	Mounting angle
angleToDistance	array	Angle to distance conversion coefficient
distanceToAngle	array	Distance to angle conversion coefficient
pitch	float	Pitch value
upsideDown	int	Whether upside-down mounted

Interference Zone

Set Interference Zone Range

Command Word: 0x3F07 ROBOT_INTERFERRANGE_SET

{
  "num": 1,
  "param": {
    "enable": false,
    "isInInterfer": 1,
    "maxX": "",
    "maxY": "",
    "maxZ": "",
    "minX": "",
    "minY": "",
    "minZ": "",
    "port": 0,
    "value": 1,
    "workType": 0
  },
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
num	int	Yes	Process number
param.enable	bool	Yes	Interference zone enable
param.isInInterfer	int	Yes	Interference zone function: inside zone / outside zone
param.maxX	string	Yes	Maximum X coordinate, unit: mm
param.maxY	string	Yes	Maximum Y coordinate, unit: mm
param.maxZ	string	Yes	Maximum Z coordinate, unit: mm
param.minX	string	Yes	Minimum X coordinate, unit: mm
param.minY	string	Yes	Minimum Y coordinate, unit: mm
param.minZ	string	Yes	Minimum Z coordinate, unit: mm
param.port	int	Yes	Output IO port
param.value	int	Yes	Output IO port value
param.workType	int	Yes	Interference zone function: status output / motion prohibition

Query Interference Zone Range

Send Command Word: 0x3F08 ROBOT_INTERFERRANGE_INQUIRE

{
  "robot": 1,
  "num": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
num	int	Yes	Process number

Return Command Word: 0x3F09 ROBOT_INTERFERRANGE_RESPOND

data: same as 0x3F07

Calibrate Interference Point

Command Word: 0x3F0A ROBOT_INTERFERRANGE_CALIBRATION

{
  "robot": 1,
  "num": 1,
  "pos": 1,
  "calibrationState1": 1,
  "calibrationState2": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
num	int	Yes	Process number
pos	int	Yes	Calibration position: P1 point-1, P2 point-2
calibrationState1	int	Yes	P1 point calibration status: 1-calibrated, 0-not calibrated
calibrationState2	int	Yes	P2 point calibration status

Calibration Complete

Command Word: 0x3F0B ROBOT_INTERFERRANGE_CALCULATE

{
  "robot": 1,
  "num": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
num	int	Yes	Process number

Move to Calibration Point

Command Word: 0x3F0C ROBOT_INTERFERRANGE_MOVE

{
  "robot": 1,
  "num": 1,
  "pos": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
num	int	Yes	Process number
pos	int	Yes	Calibration position: P1 point-1, P2 point-2

Tracking Error (Current Drive)

Query Tracking Error

Send Command Word: 0x2A08 CURRENTTRACKINGERROR_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Return Command Word: 0x2A09 CURRENTTRACKINGERROR_RESPOND

{
  "trackingError": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "trackingErrorSync": [0.0, 0.0, 0.0, 0.0, 0.0],
  "MaxTrackingError": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "MaxTrackingErrorSync": [0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1
}

Parameter Description:

Parameter	Type	Description
trackingError	array	Current error
trackingErrorSync	array	Current external axis error
MaxTrackingError	array	Maximum error
MaxTrackingErrorSync	array	Maximum external axis error
robot	int	Current robot

Load Rate

Query Motor Load Rate

Send Command Word: 0x2A0A MOTOR_LOAD_RATE_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Return Command Word: 0x2A0B MOTOR_LOAD_RATE_RESPOND

{
  "motorOverloadSync": [0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1,
  "motorOverload": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}

Parameter Description:

Parameter	Type	Description
motorOverloadSync	array	External axis load rate
robot	int	Current robot
motorOverload	array	Robot load rate

Position Point Coordinate System Conversion

Position Point Coordinate System Conversion

Command Word: 0x2A12 POS_TRANS_COORD

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

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
name	string	Yes	Variable name
pos	array	Yes	Coordinates to convert, 14 elements total: Element 1: Coordinate system (0-joint, 1-Cartesian, 2-tool, 3-user) Element 2: Unit system (0-radian, 1-degree) Element 3: Hand pattern (0-none, 1-left hand, 2-right hand, 0~8 configurations) Element 4: Tool coordinate number Element 5: User coordinate number Element 6-7: Reserved Element 8-14: J1~J7 / xyzabc
targetCoord	int	Yes	Target coordinate system: 0-joint coordinate, 1-Cartesian coordinate, 2-tool coordinate, 3-user coordinate

Return Command Word: 0x2A13 POS_TRANS_COORD_RESPOND

{
  "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
}

Parameter Description:

Parameter	Type	Description
name	string	Variable name
pos	array	Converted radian coordinate values
posDeg	array	Converted degree values
robot	int	Robot number

Tracking Error

Set Tracking Error

Command Word: 0x2A14 TRACKINTERROR_SET

{
  "staticTrackingError": [1, 2, 3, 4, 5, 6],
  "dynamicTrackingError": [1, 2, 3, 4, 5, 6],
  "staticTrackingErrorSync": [1, 2, 3],
  "dynamicTrackingErrorSync": [1, 2, 3]
}

Parameter Description:

Parameter	Type	Required	Description
staticTrackingError	array	Yes	Static tracking error, range: 1~20000000
dynamicTrackingError	array	Yes	Dynamic tracking error, range: 1~20000000
staticTrackingErrorSync	array	Yes	Static tracking error external axis, range: 1~20000000
dynamicTrackingErrorSync	array	Yes	Dynamic tracking error external axis, range: 1~20000000

Query Tracking Error

Send Command Word: 0x2A15 TRACKINTERROR_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Return Command Word: 0x2A16 TRACKINTERROR_RESPOND

{
  "staticTrackingError": [1, 2, 3, 4, 5, 6],
  "dynamicTrackingError": [1, 2, 3, 4, 5, 6],
  "staticTrackingErrorSync": [1, 2, 3],
  "dynamicTrackingErrorSync": [1, 2, 3]
}

Parameter Description:

Parameter	Type	Description
staticTrackingError	array	Static tracking error
dynamicTrackingError	array	Dynamic tracking error
staticTrackingErrorSync	array	Static tracking error external axis
dynamicTrackingErrorSync	array	Dynamic tracking error external axis

Motor Overload Protection

Set Motor Overload Protection

Command Word: 0x2A17 SET_TORQ_LIMIT

{
  "robot_num": 1,
  "torq_limit_enable": false,
  "torq_limit_min_ensure_time": 10,
  "torq_limit_robot": [25, 26, 27, 28, 29, 80],
  "torq_limit_sync": [70]
}

Parameter Description:

Parameter	Type	Required	Description
robot_num	int	Yes	Robot number
torq_limit_enable	bool	Yes	Enable switch: true-on, false-off
torq_limit_min_ensure_time	int	Yes	Overload protection minimum confirmation time
torq_limit_robot	array	Yes	Torque limit value for each joint
torq_limit_sync	array	Yes	External axis torque limit value

Query Motor Overload Protection

Send Command Word: 0x2A18 INQUIRE_TORQ_LIMIT

{
  "robot_num": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot_num	int	Yes	Robot number (1-4)

Return Command Word: 0x2A19 RESPOND_TORQ_LIMIT

{
  "robot_num": 1,
  "torq_limit_enable": false,
  "torq_limit_robot": [10, 20, 30],
  "torq_limit_sync": [10, 20, 30]
}

Parameter Description:

Parameter	Type	Description
robot_num	int	Robot number
torq_limit_enable	bool	Enable status
torq_limit_robot	array	Motor torque overload value, initial value 9999 needs modification
torq_limit_sync	array	Motor torque overload value external axis

Axis Speed

Query Axis Speed

Send Command Word: 0x2A22 AXISACTUALVEL_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1-4)

Return Command Word: 0x2A23 AXISACTUALVEL_RESPOND

{
  "robot": 1,
  "actualLineVel": 0.0,
  "maxActualLineVel": 0.0,
  "axisActualVel": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0],
  "maxAxisActualVel": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0],
  "axisActualVelSync": [1.0, 2.0, 3.0, 4.0, 5.0],
  "maxAxisActualVelSync": [1.0, 2.0, 3.0, 4.0, 5.0]
}

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
actualLineVel	float	End-effector linear velocity current speed
maxActualLineVel	float	End-effector linear velocity maximum speed
axisActualVel	array	Axis 1-7 current axis speed
maxAxisActualVel	array	Axis 1-7 maximum axis speed
axisActualVelSync	array	External axis current axis speed
maxAxisActualVelSync	array	External axis maximum axis speed

Speed Mode Status Set and Get

Set Speed

Command Word: 0x2601 SPEED_SET

{
  "robot": 1,
  "speed": 5
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range: [1, 4]
speed	int	Yes	Speed value, motion mode speed range: 1-100

Query Speed

Send Command Word: 0x2602 SPEED_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Description: Speed value 101 represents 0.1° micro-motion gear, 102 represents 0.01° micro-motion gear. Can be used with 0x2101 to switch to run mode to adjust global speed.

Return Command Word: 0x2603 SPEED_RESPOND

{
  "robot": 1,
  "speed": 5
}

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
speed	int	Current speed value

Robot Switch

Switch Robot

Command Word: 0x5001 ROBOT_SWITCH

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

Parameter Description:

Parameter	Type	Required	Description
mode	int	Yes	Mode: 0-single robot mode, 1-multi-robot mode
robot	int	Yes	Robot number

Query Current Robot

Send Command Word: 0x5002 ROBOT_INQUIRE

data: none

Return Command Word: 0x5003 ROBOT_RESPOND

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

Parameter Description:

Parameter	Type	Description
mode	int	Mode: 0-single robot mode, 1-multi-robot mode
robot	int	Current robot number

Jog Mode Status Set and Get

Start Jog

Command Word: 0x2901 JOG_OPERATION_MOVE

{
  "axis": 1,
  "direction": 1
}

Parameter Description:

Parameter	Type	Required	Description
axis	int	Yes	Axis number to operate, external axes start from 8
direction	int	Yes	Direction: 1-forward, -1-reverse

Axis Number Description:

Current Coordinate System	axis=1	axis=2	axis=3	axis=4	axis=5	axis=6	axis=7
Cartesian coordinate	X axis	Y axis	Z axis	A axis	B axis	C axis	psi axis
Tool coordinate	TX axis	TY axis	TZ axis	TA axis	TB axis	TC axis	psi axis
User coordinate	UX axis	UY axis	UZ axis	UA axis	UB axis	UC axis	psi axis

Stop Jog

Command Word: 0x2902 JOG_OPERATION_STOP

{
  "axis": 1
}

Parameter Description:

Parameter	Type	Required	Description
axis	int	Yes	Axis number to operate, external axes start from 8

Teach Pendant Set Angle Unit

Set Angle Unit

Command Word: 0x50A4 ISDEG_PARAM_SET

{
  "isDeg": false
}

Parameter Description:

Parameter	Type	Required	Description
isDeg	bool	Yes	Unit system: false-radian, true-degree

Mark Circle Center (Not Yet Available, Under Definition)

Command Word: 0x8160 SIGN_WINE_CIRCLE_CENTER

{}

Description: This function is not yet available, under definition.