External Axis Settings

---

1. Positioner Coordinate Calibration Calculation Settings

Command ID: 0x7001 SYNCPOSITIONER_CALIBRATION_SET

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

Send:

{
  "calibrateNum": 1
}

Parameter Description:

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

Controller Return:

Command ID: 0x7004 SYNCPOSITIONER_CALIBRATION_RESULT

{
  "result": true
}

Parameter	Type	Description
result	bool	Whether external axis data calculation succeeded

---

2. Calibration Point Coordinates

Command ID: 0x7002 SYNCPOSITIONER_CALIBRATION_INQUIRE

Description: Calibration point coordinates, send the following command

Send:

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

Parameter Description:

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

Controller Response:

Command ID: 0x7003 SYNCPOSITIONER_CALIBRATION_RESPOND

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

Parameter Description:

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

---

3. Query Calibration Results of All External Axes

Command ID: 0x7005 SYNCPOSITIONER_TYPEANDCALIBRATIONRESULT_INQUIRE

Description: Query calibration results of all external axes

Send:

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Return External Axis Calibration Results:

Command ID: 0x7006 SYNCPOSITIONER_TYPEANDCALIBRATIONRESULT_RESPOND

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

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
calibrateResult	array	Whether calibrated, array indicates whether each external axis group is calibrated
syncType	array	Sync type

---

4. Calibration Result Query

Command ID: 0x7007 SYNCPOSITIONER_COORD_INQUIRE

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

Send:

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

Parameter Description:

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

Response:

Command ID: 0x7008 SYNCPOSITIONER_COORD_RESPOND

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

Parameter Description:

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

---

5. Set Current Collaborative External Axis Group Number

Command ID: 0x7009 SYNCPOSITIONER_COORDNUM_SWITCH

Description: Set current collaborative external axis group number

Send:

{
  "curSyncPositionerNum": 3
}

Parameter Description:

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

Query Current Collaborative External Axis Group Number:

Command ID: 0x700A SYNCPOSITIONER_COORDNUM_INQUIRE

Description: No need to send data

Controller Response:

Command ID: 0x700B SYNCPOSITIONER_COORDNUM_RESPOND

{
  "curSyncPositionerNum": 2
}

Parameter Description:

Parameter	Type	Description
curSyncPositionerNum	int	Current collaborative external axis group number

---

6. Set Ground Track Parameters

Command ID: 0x700D SYNCTRACK_SET

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

Send:

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

Parameter Description:

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

Query:

Command ID: 0x700E SYNCTRACK_INQUIRE

Controller Response:

Command ID: 0x700F SYNCTRACK_RESPOND

{
  "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

Send:

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

Parameter Description:

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

Controller Response:

Command ID: 0x7013 SYNC_POS_RESPOND

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

{
  "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]
}

Parameter Description:

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

---

8. Dual-Robot Collaboration Enable

Set Dual-Robot Collaboration Enable Command:

Command ID: 0x7015 COOPERATIVE_SET

{
  "cooperativeRobot": 0
}

Parameter Description:

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

Get Collaboration Status:

Command ID: 0x7016 COOPERATIVE_INQUIRE

Response Collaboration Status:

Command ID: 0x7017 COOPERATIVE_RESPOND

{
  "cooperativeRobot": 0
}

Parameter Description:

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

---

9. External Axis Joint Parameter Settings

Command ID: 0x7021 JOINTPARAMETER_SYNCPOSITIONER_SET

Description: External axis joint parameter settings

Single-Axis Positioner

{
  "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

{
  "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 speed
Direction	float	Forward/reverse: 1.0 means forward
EncoderResolution	float	Encoder resolution (bit count)
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 speed
ReducRatio	float	Joint reduction ratio
syncAxisNum	int	Axis number
syncGroupNum	int	Sync group number

Root Level Parameter Description:

Parameter	Type	Description
syncGroupNum	int	Sync group number

Query Joint Parameters:

Command ID: 0x7022 JOINTPARAMETER_SYNCPOSITIONER_INQUIRE

{
  "syncGroupNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
syncGroupNum	int	Yes	Sync group number

Joint Parameter Return:

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

Single-Axis Positioner

{
  "syncGroupNum": 1,
  "syncJog": [
    {
      "MaxAcc": 800.0,
      "MaxSpeed": 40.0
    }
  ]
}

Dual-Axis Positioner

{
  "syncGroupNum": 2,
  "syncJog": [
    {"MaxAcc": 400.0, "MaxSpeed": 20.0},
    {"MaxAcc": 800.0, "MaxSpeed": 40.0}
  ]
}

Parameter Description:

Parameter	Type	Description
syncGroupNum	int	External axis group number
syncJog[].MaxAcc	float	Maximum acceleration (°/s)
syncJog[].MaxSpeed	float	Maximum speed (°/s)

Query External Axis Jog Joint Speed:

Command ID: 0x7025 JOG_JOINTPARAMETER_SYNCPOSITIONER_INQUIRE

{
  "syncGroupNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
syncGroupNum	int	Yes	External axis group number

External Axis Jog Joint Speed Parameter Return:

Command ID: 0x7026 JOG_JOINTPARAMETER_SYNCPOSITIONER_RESPOND

Description: Same as 0x7024

---

11. Encoder Multi-Turn Overflow Count Function

Command ID: 0x7027 SYNCENCODE_OVERFLOW_PARM_SET

Send:

{
  "robot": 1,
  "syncAxis": [
    {
      "encode": [
        {
          "encoderRange": 0,
          "encoderType": 0,
          "max": "0.0",
          "min": "0.0"
        }
      ]
    }
  ],
  "syncGroupNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
syncGroupNum	int	Yes	Sync group number
syncAxis[].encode	array	Yes	Encoder related settings
syncAxis[].encode[].encoderRange	int	Yes	Encoder range setting
syncAxis[].encode[].encoderType	int	Yes	Multi-turn value type
syncAxis[].encode[].max	string	Yes	Maximum value measured by encoder
syncAxis[].encode[].min	string	Yes	Minimum value measured by encoder

Query:

Command ID: 0x7028 SYNCENCODE_OVERFLOW_PARM_INQUIRE

{
  "robot": 1,
  "syncGroupNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
syncGroupNum	int	Yes	External axis group number

Return:

Command ID: 0x7029 SYNCENCODE_OVERFLOW_PARM_RESPOND

Description: Same as 0x7027, where encode includes an additional encoderResolution parameter returning encoder bit count

---

12. Encoder Multi-Turn Value Switch Communication Protocol

Command ID: 0x7030 SYNCENCODE_OVERFLOW_ENABLE_PARM_SET

Send:

{
  "robot": 1,
  "syncAxis": [
    {
      "enable": 1
    }
  ],
  "syncGroupNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
syncGroupNum	int	Yes	External axis group number
syncAxis[].enable	int	Yes	Encoder multi-turn overflow count function switch

---

13. External Axis Zero Point Parameter Settings

Command ID: 0x7031 SYNCPOSITIONER_ENCODER_RESET

Send:

{
  "axis": 1,
  "clearEncoder": false
}

Parameter Description:

Parameter	Type	Required	Description
axis	int	Yes	External axis number - 0: All external axes - 1: External axis 1 - 2: External axis 2
clearEncoder	bool	Yes	Clear encoder - true: Clear multi-turn value - false: Mark zero point

Controller Response After Zero Point Set Successfully:

Command ID: 0x7033 SYNCPOSITIONER_ENCODER_RESET_RESPOND

{
  "axis": 1
}

Parameter Description:

Parameter	Type	Description
axis	int	External axis number - 0: All external axes - 1: External axis 1 - 2: External axis 2

---

14. External Axis Zero Offset

Command ID: 0x7034 SYNCPOSITIONER_ENCODER_ZERO_OFFSET_SET

Description: Teach pendant does not have this function

Send:

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

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
axis	int	Yes	External axis number - 0: All external axes - 1: External axis 1 - 2: External axis 2
allValue	array	Yes	Values are placed in the corresponding array positions

---

15. Single-Turn Value Setting

Command ID: 0x7035 SYNCPOSITIONER_SINGLE_ENCODER_RESET

Send:

{
  "robot": 1,
  "allValue": [1, 2, 3, 4, 5]
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
allValue	array	Yes	Values are placed in the corresponding array positions

Query External Axis Single-Turn Value:

Command ID: 0x7036 SYNCPOSITIONER_SINGLE_ENCODER_INQUIRE

{
  "robot": 1
}

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Controller Response:

Command ID: 0x7037 SYNCPOSITIONER_SINGLE_ENCODER_RESPOND

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

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
allValue	array	Single-turn value, array elements correspond to each axis

---

16. External Axis Calibration Result Settings

Command ID: 0x7041 SYNCPOSITIONER_CALIBRATION_RESULT_SET

Description: Teach pendant does not have this function

Send:

{
  "syncPositionerNum": 1,
  "resultArray": [
    [0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0]
  ]
}

Parameter Description:

Parameter	Type	Required	Description
syncPositionerNum	int	Yes	External axis group number
resultArray	array	Yes	Calibration result array

External Axis Calibration Result Query:

Command ID: 0x7042 SYNCPOSITIONER_CALIBRATION_RESULT_INQUIRE

{
  "syncPositionerNum": 1
}

Parameter Description:

Parameter	Type	Required	Description
syncPositionerNum	int	Yes	External axis group number

External Axis Calibration Result Return:

Command ID: 0x7043 SYNCPOSITIONER_CALIBRATION_RESULT_RESPOND

{
  "calibrateResult": true,
  "resultArray": [
    [524.340205626059, -82.982822853146, 643.197959948330, -3.141346895452, 0.0, 2.382157019678]
  ],
  "syncPositionerNum": 1
}

Parameter Description:

Parameter	Type	Description
calibrateResult	bool	Whether calibrated
resultArray	array	Calibration result array
syncPositionerNum	int	External axis group number