Calibration

Tool Calibration

0x3801 TOOLCALIBRATION_SET

Set tool calibration

Request Parameters:

Parameter	Type	Description
toolNum	int	Tool number
calibrationPointNum	int	Set 6-point or 7-point calibration

{
  "toolNum": 2,
  "calibrationPointNum": 6
}

---

0x3804 TOOLCALIBRATION_RESULT

Calibration calculation complete response

Response Parameters:

Parameter	Type	Description
result	bool	Whether calculation succeeded

{
  "result": true
}

---

0x3802 TOOLCALIBRATION_INQUIRE

Query calibration point data

Request Parameters:

Parameter	Type	Description
pointNum	int	Index 0~6
toolNum	int	Tool number

{
  "pointNum": 2,
  "toolNum": 1
}

---

0x3803 TOOLCALIBRATION_RESPOND

Return calibration point data

Response Parameters:

Parameter	Type	Description
pointNum	int	Index 0~6
pos	array[6]	Position data [x,y,z,rx,ry,rz]

{
  "pointNum": 2,
  "pos": [0, 0, 0, 0, 0, 0]
}

---

0x3815 TOOL_CALIBRATION_POINTS_STATUS_INQUIRE

Query calibration status

Request Parameters:

Parameter	Type	Description
toolNum	int	Tool number

{
  "toolNum": 2
}

---

0x3816 TOOL_CALIBRATION_POINTS_STATUS_RESPOND

Return calibration status

Response Parameters:

Parameter	Type	Description
status	array[7]	Calibration status: 1=calibrated, 0=pending calibration

{
  "status": [1, 0, 1, 0, 1, 0, 1]
}

---

0x3817 TOOL_CALIBRATION_POINTS_STATUS_CLEAR

Clear calibration

Request Parameters:

Parameter	Type	Description
pointNum	int	Index 0~6
toolNum	int	Tool number

{
  "pointNum": 2,
  "toolNum": 1
}

---

0x3805 TOOLPARAMETER_SET

Set tool parameters

Request Parameters:

Parameter	Type	Description
tool.A	float	Rotation angle around A axis
tool.B	float	Rotation angle around B axis
tool.C	float	Rotation angle around C axis
tool.note	string	Annotation
tool.payload_inertia	float	Payload inertia
tool.payload_mass	float	Payload mass
tool.payload_mass_center_X	float	Payload center of mass X
tool.payload_mass_center_Y	float	Payload center of mass Y
tool.payload_mass_center_Z	float	Payload center of mass Z
tool.x	float	X axis offset
tool.y	float	Y axis offset
tool.z	float	Z axis offset
toolNum	int	Tool number

{
  "tool": {
    "A": 3.0,
    "B": 3.0,
    "C": 3.0,
    "note": "",
    "payload_inertia": 5.0,
    "payload_mass": 4.0,
    "payload_mass_center_X": 6.0,
    "payload_mass_center_Y": 7.0,
    "payload_mass_center_Z": 8.0,
    "x": 1.0,
    "y": 2.0,
    "z": 3.0
  },
  "toolNum": 1
}

---

0x3806 TOOLPARAMETER_INQUIRE

Query tool parameters

Request Parameters:

Parameter	Type	Description
toolNum	int	Tool number

{
  "toolNum": 2
}

---

0x3807 TOOLPARAMETER_RESPOND

Return tool parameters

Response format same as 0x3805

---

0x380A TOOLNUMBER_SWITCH

Switch tool

Request Parameters:

Parameter	Type	Description
robot	int	Robot number 1-4
curToolNum	int	Current tool number

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

---

0x380B TOOLNUMBER_INQUIRE

Query current tool

Request Parameters:

Parameter	Type	Description
robot	int	Robot number 1-4

{
  "robot": 1
}

---

0x380C TOOLNUMBER_RESPOND

Return current tool

Response Parameters:

Parameter	Type	Description
robot	int	Robot number 1-4
curToolNum	int	Current tool number

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

---

0x3812 TOOL_CALIBRATION_POINTS_POS_INQUIRE

Query calibrated point data

Request Parameters:

Parameter	Type	Description
pointNum	int	Index 0~6, total 7 points
toolNum	int	Tool number

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

---

0x3813 TOOL_CALIBRATION_POINTS_POS_RESPOND

Return calibrated point data

Response Parameters:

Parameter	Type	Description
pointNum	int	Index 0~6
pos	array[6]	Position data [x,y,z,rx,ry,rz]

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

---

User Coordinate Calibration

0x3C01 USERCALIBRATION_CALC

User coordinate calibration set

Request Parameters:

Parameter	Type	Description
userNum	int	User coordinate number

{
  "userNum": 1
}

---

0x3C02 USERCALIBRATION_RESULT

User coordinate calibration result return

Response Parameters:

Parameter	Type	Description
result	bool	true=calibration success, false=calibration failure
status.O	bool	O point status
status.X	bool	X point status
status.Y	bool	Y point status

{
  "result": true,
  "status": {
    "O": false,
    "X": false,
    "Y": false
  }
}

---

0x3C03 USERCALIBRATION_RECORD

Mark user origin, X, Y values

Request Parameters:

Parameter	Type	Description
userNum	int	User coordinate number
inquire	string	Values "O", "X", "Y" or "OXY"
posZero	array[6]	Mark origin (radians), present when inquire is "OXY"
posX	array[6]	Mark X value (radians), present when inquire is "OXY"
posY	array[6]	Mark Y value (radians), present when inquire is "OXY"

{
  "userNum": 1,
  "inquire": "X",
  "posZero": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "posX": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "posY": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}

---

0x3C04 USERCALIBRATION_RECORD_RESPOND

Mark result response

Response Parameters:

Parameter	Type	Description
userNum	int	User coordinate number
inquire	string	Values "O", "X", "Y"
status	bool	Status
pos	array[6]	Position data in radians
posDeg	array[6]	Position data in degrees

{
  "userNum": 1,
  "inquire": "X",
  "status": true,
  "pos": [0, 0, 0, 0, 0, 0],
  "posDeg": [0, 0, 0, 0, 0, 0]
}

---

0x3C07 USERPARAMETER_SET

User coordinate set

Request Parameters:

Parameter	Type	Description
pos	array[6]	User coordinate position [x,y,z,rx,ry,rz]
userNum	int	User coordinate number

{
  "pos": [460.0, 0.0, 637.0, 0.0, 3.10, 3.0],
  "userNum": 1
}

---

0x3C08 USERPOSDATA_INQUIRE

User coordinate query

Request Parameters:

Parameter	Type	Description
userNum	int	User coordinate number
inquire	string	Query type: "Calibration", "O", "X", "Y"

{
  "userNum": 1,
  "inquire": "Calibration"
}

---

0x3C09 USERPOSDATA_RESPOND

User coordinate query response

Response Parameters:

Parameter	Type	Description
userNum	int	User coordinate number
inquire	string	Query type
status	bool	Status
pos	array[6]	Position data in radians
posDeg	array[6]	Position data in degrees

{
  "userNum": 1,
  "inquire": "Calibration",
  "status": false,
  "pos": [0, 0, 0, 0, 0, 0],
  "posDeg": [0, 0, 0, 0, 0, 0]
}

---

0x3C0A USERCOORDINATE_SWITCH

User coordinate number set

Request Parameters:

Parameter	Type	Description
robot	int	Robot number 1-4
userNum	int	User coordinate number

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

---

0x3C0B USERCOORDINATE_INQUIRE

User coordinate number query

Request Parameters:

Parameter	Type	Description
robot	int	Robot number 1-4

{
  "robot": 1
}

---

0x3C0C USERCOORDINATE_RESPOND

User coordinate number query response

Response Parameters:

Parameter	Type	Description
robot	int	Robot number 1-4
curUserNum	int	Current user coordinate number

{
  "robot": 1,
  "curUserNum": 1
}

---

0x3C0D USERANNOTATION_SET

User annotation set

Request Parameters:

Parameter	Type	Description
note	string	Annotation content
userNum	int	User coordinate number

{
  "note": "Nabot",
  "userNum": 1
}

---

0x3C0E USERANNOTATION_INQUIRE

User annotation query

Request Parameters:

Parameter	Type	Description
userNum	int	User coordinate number

{
  "userNum": 1
}

---

0x3C0F USERANNOTATION_RESPOND

User annotation query response

Response format same as 0x3C0D

---

20-Point Calibration

0x7101 CALIBRATION_20POINTS_SET

20-point calibration complete, send calibration data

Request Parameters:

Parameter	Type	Description
calNum	int	Calibration number (currently default value)
noCalZero	bool	20-point does not calibrate zero point

{
  "calNum": 1,
  "noCalZero": true
}

---

0x7102 CALIBRATION_20POINTS_INQUIRE

Click calibration point data

Request Parameters:

Parameter	Type	Description
toolNum	int	Tool coordinate system 1-3
pointNum	int	Value 0~19, total 20 points

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

---

0x7103 CALIBRATION_20POINTS_RESPOND

Return calibration point data

Response Parameters:

Parameter	Type	Description
pointNum	int	Value 0~19, total 20 points
pos	array[6]	Point data [x,y,z,rx,ry,rz]

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

---

0x7104 CALIBRATION_20POINTS_RESULT

Calibration calculation complete

Response Parameters:

Parameter	Type	Description
result	bool	Whether calculation is correct
distance	float	Calculated distance value

{
  "result": true,
  "distance": 2.04
}

---

0x7105 CALIBRATION_20POINTS_RESULT_APPLY

Apply calibration result as tool

Request Parameters:

Parameter	Type	Description
toolNum	int	Tool coordinate system 1-3

{
  "toolNum": 1
}

---

0x7106 CALIBRATION_20POINTS_RESULT_APPLY_OK

Set success response

Response Parameters:

Parameter	Type	Description
apply	bool	Whether setting succeeded

{
  "apply": true
}

---

0x7107 CALIBRATION_20POINTS_STATUS_INQUIRE

Query calibration point status

Request Parameters:

Parameter	Type	Description
calNum	int	Tool number

{
  "calNum": 1
}

Note: The underlying layer shares calibration point status and does not distinguish tool numbers

---

0x7108 CALIBRATION_20POINTS_STATUS_RESPOND

Return calibration point status

Response Parameters:

Parameter	Type	Description
status	array[20]	Calibration point status: 1=calibrated, 0=not calibrated

{
  "status": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
}

---

0x7109 CALIBRATION_20POINTS_STATUS_CLEAR

Clear calibration status

Request Parameters:

Parameter	Type	Description
pointNum	int	Value: 0-19 single point, 20=all points

{
  "pointNum": 0
}

---

0x710a CALIBRATION_20POINTS_POS_INQUIRE

Query calibrated point data

Request Parameters:

Parameter	Type	Description
pointNum	int	Value 0~19, total 20 points

{
  "pointNum": 0
}

---

0x710b CALIBRATION_20POINTS_POS_RESPOND

Return calibrated point data

Response Parameters:

Parameter	Type	Description
pointNum	int	Value 0~19, total 20 points
pos	array[6]	Point data [x,y,z,rx,ry,rz]

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

---

0x710c CALIBRATION_20POINTS_POS_RUN

Move to calibration point (not yet available)

Request Parameters:

Parameter	Type	Description
robot	int	Robot number

{
  "robot": 1
}

---

0x710d CALIBRATION_20POINTS_CANCALIBRATION_INQUIRE

Get whether calibration interface can be opened

No request parameters

---

0x710e CALIBRATION_20POINTS_CANCALIBRATION_RESPOND

Whether calibration interface can be opened

Response Parameters:

Parameter	Type	Description
canCalibration	bool	Whether it can be opened

{
  "canCalibration": true
}

---

4-Point Calibration (SCARA)

0x7201 CALIBRATION_4POINTS_SET

Set distance input value, calculate and return result

Request Parameters:

Parameter	Type	Description
ParamOf4Points	array[2]	L1, L2 rod length

{
  "ParamOf4Points": [0, 0]
}

---

0x7202 CALIBRATION_4POINTS_INQUIRE

Click calibration button

Request Parameters:

Parameter	Type	Description
pointNum	int	Value 0~3, total 4 points
status	int	1=marked, 0=unmarked

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

---

0x7203 CALIBRATION_4POINTS_RESPOND

Return calibration point data

Response Parameters:

Parameter	Type	Description
pointNum	int	Value 0~3, total 4 points
pos	array[6]	Point data [x,y,z,rx,ry,rz]

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

---

0x7204 CALIBRATION_4POINTS_RESULT

Calculation complete

Response Parameters:

Parameter	Type	Description
result	bool	Calculation result
length	array[2]	Length [L1, L2]
dtheta	array[2]	Offset angle

{
  "result": true,
  "length": [0, 0],
  "dtheta": [0, 0]
}

---

0x7205 CALIBRATION_4POINTS_RESULT_APPLY

Fill result into DH parameters

No request parameters

---

0x7206 CALIBRATION_4POINTS_RESULT_APPLY_OK

Set success response

Response Parameters:

Parameter	Type	Description
apply	bool	Whether setting succeeded

{
  "apply": true
}

---

0x7207 CALIBRATION_4POINTS_STATUS_INQUIRE

Query 4-point calibration point status

No request parameters

---

0x7208 CALIBRATION_4POINTS_STATUS_RESPOND

Return 4-point calibration status

Response Parameters:

Parameter	Type	Description
result	bool	Calculation result
status	array[4]	Calibration point status: 1=calibrated, 0=not calibrated
length	array[2]	Length [L1, L2]
dtheta	array[2]	Offset angle

{
  "result": true,
  "status": [0, 0, 0, 0],
  "length": [0, 0],
  "dtheta": [0, 0]
}