Force Control

---

1. Collision Detection

Collision Detection Switch Set

Field	Type	Description
0x7406	COLLISION_DETECTION_SET

Request Parameters:

Parameter	Type	Required	Description
switch	bool	Yes	Collision detection switch

{
  "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

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

Collision Detection Parameter Set

Field	Type	Description
0x7409	COLLISION_DETECTION_PARAM_SET

Request Parameters:

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

{
  "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

Field	Type	Description
0x740B	COLLISION_DETECTION_PARAM_RESPOND

Response Parameters: Same as 0x7409

---

2. Torque Feedforward

Torque Feedforward Switch Set

Field	Type	Description
0x740C	TORQ_FEEDBACK_SET

Request Parameters:

Parameter	Type	Required	Description
torqFeedback	bool	Yes	Torque feedforward switch

{
  "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

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

Drag Teaching Parameter Set

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-attitude drag
frictionOffset	array[double]	Yes	Joint 1-6 friction compensation correction coefficient
dragCoefficient	array[double]	Yes	Joint over-limit resistance coefficient, length 6, range [1,100]

{
  "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 Set

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-end, true-start

{
  "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 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 recorded

{
  "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 send 100

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

Save Trajectory

Field	Type	Description
0x750D	DRAG_TRAJ_SAVE

Request Parameters:

Parameter	Type	Required	Description
TrajName	string	Yes	Trajectory name

{
  "TrajName": "SSSSS"
}

Delete Trajectory

Field	Type	Description
0x750E	DRAG_TRAJ_DELETE

Request Parameters:

Parameter	Type	Required	Description
TrajName	string	Yes	Trajectory name

{
  "TrajName": "SSSSS"
}

Drag Mode Set

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

{
  "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 Button

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-end trajectory acquisition, 4-start trajectory playback, 5-power on enable, 6-power off enable, 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 mode: 0-long press trigger port, 1-short press trigger port, array length 11
parameterArr	array[int]	Yes	Parameter: 0-trigger when port closed, 1-trigger when port open, array length 11

{
  "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-end trajectory acquisition, 4-start trajectory playback, 5-power on enable, 6-power off enable, 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-port closed, 1-port open, 2-blinking, array length 11

{
  "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 mode: 0-long press trigger port, 1-short press trigger port, array length 11
parameterArr	array[int]	Yes	Parameter, array length 11
portArr	array[int]	Yes	Trigger port, array length 11

{
  "_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]
}

---

6. Dynamics Parameters

Dynamics identification only supports standard 6-axis upright mounting, no load, identification related parameter settings

Trajectory Parameter Set

Field	Type	Description
0x7601	TRAJECTORY_PARAM_SET

Request Parameters:

Parameter	Type	Required	Description
traSize	double	Yes	Trajectory range
traVel	double	Yes	Trajectory speed

{
  "traSize": 10.0,
  "traVel": 100.0
}

Query Identification Trajectory Parameters

Field	Type	Description
0x7602	TRAJECTORY_PARAM_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x7603	TRAJECTORY_PARAM_RESPOND

Response Parameters:

Parameter	Type	Required	Description
traSize	double	Yes	Trajectory range, range 0-100
traVel	double	Yes	Trajectory speed, range 0-100
alreadyIden	bool	Yes	true-identified, false-not identified

{
  "traSize": 50.0,
  "traVel": 50.0,
  "alreadyIden": false
}

Query Trajectory Z Axis Maximum and Minimum

Field	Type	Description
0x7609	TRAJECTORY_ZMAXMIN

0x7601 set will return 0x7609

Response Parameters:

Parameter	Type	Required	Description
zMax	double	Yes	Current trajectory Z maximum
zMin	double	Yes	Current trajectory Z minimum

{
  "zMax": 100.0,
  "zMin": 100.0
}

Confirm Trajectory Safety Test

Field	Type	Description
0x7604	SAFE_CHECK_SET

Request Parameters: None

Controller Response

Field	Type	Description
0x7605	SAFE_CHECK_RESPOND

Response Parameters:

Parameter	Type	Required	Description
Finish	int	Yes	Confirm safety

{
  "Finish": 1
}

Start Identification

Field	Type	Description
0x7606	IDENTITY_SET

Request Parameters: None

Controller Response

Field	Type	Description
0x7607	IDENTITY_RESPOND

Response Parameters:

Parameter	Type	Required	Description
error	array[double]	Yes	Error array, sent 10 times total

{
  "error": [100.0, 100.0, 100.0, 100.0, 100.0, 100.0]
}

Identification Complete

Field	Type	Description
0x7608	IDENTITY_FINISH

Controller actively sends, after ten times sends Finish indicating complete

Response Parameters:

Parameter	Type	Required	Description
Finish	int	Yes	Completion flag

{
  "Finish": 1
}

Identification Error Stop

Field	Type	Description
0x760A	IDENTITY_ERRORSTOP

Response Parameters:

Parameter	Type	Required	Description
ErrorStop	int	Yes	Error stop flag

{
  "ErrorStop": 1
}

---

7. Payload Enable

Set Payload Parameters

Field	Type	Description
0x8130	PAYLOAD_PARA_SET

Request Parameters:

Parameter	Type	Required	Description
axis1_actual_torq_conversion_ratio	double	Yes	Axis 1 actual torque conversion ratio
axis2_actual_torq_conversion_ratio	double	Yes	Axis 2 actual torque conversion ratio
axis3_actual_torq_conversion_ratio	double	Yes	Axis 3 actual torque conversion ratio
axis4_actual_torq_conversion_ratio	double	Yes	Axis 4 actual torque conversion ratio
axis5_actual_torq_conversion_ratio	double	Yes	Axis 5 actual torque conversion ratio
axis6_actual_torq_conversion_ratio	double	Yes	Axis 6 actual torque conversion ratio
payload_enable	bool	Yes	Payload enable

{
  "axis1_actual_torq_conversion_ratio": 6.4120,
  "axis2_actual_torq_conversion_ratio": 6.4120,
  "axis3_actual_torq_conversion_ratio": 11.7730,
  "axis4_actual_torq_conversion_ratio": 11.7730,
  "axis5_actual_torq_conversion_ratio": 33.4450,
  "axis6_actual_torq_conversion_ratio": 33.3380,
  "payload_enable": true
}

Query Payload Parameters

Field	Type	Description
0x8131	PAYLOAD_PARA_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x8132	PAYLOAD_PARA_RESPOND

Response Parameters: Same as 0x8130

---

8. Adaptive Acceleration/Deceleration

Set Adaptive Acceleration/Deceleration Parameters

Field	Type	Description
0x8140	AUTO_MODIFY_ACC_PARA_SET

Request Parameters:

Parameter	Type	Required	Description
arm_inertia	array[double]	Yes	Joint 1~3 arm inertia, array length 3
auto_modify_acc_enable	bool	Yes	Enable
joint1_mass	double	Yes	Joint 1 mass
joint1_mass_center_to_motor_distance	double	Yes	Joint 1 center of mass to motor distance
joint2_mass	double	Yes	Joint 2 mass
joint2_mass_center_to_motor_distance	double	Yes	Joint 2 center of mass to motor distance
joint4_mass	double	Yes	Joint 4 mass

{
  "arm_inertia": [4.0, 5.0, 6.0],
  "auto_modify_acc_enable": true,
  "joint1_mass": 1.0,
  "joint1_mass_center_to_motor_distance": 7.0,
  "joint2_mass": 2.0,
  "joint2_mass_center_to_motor_distance": 8.0,
  "joint4_mass": 3.0
}

Query Adaptive Acceleration/Deceleration Parameters

Field	Type	Description
0x8141	AUTO_MODIFY_ACC_PARA_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x8142	AUTO_MODIFY_ACC_PARA_RESPOND

Response Parameters: Same as 0x8140

Threshold Parameter Set

Field	Type	Description
0x8147	AUTO_MODIFY_ACC_THRESHOLD_PARA_SET

Request Parameters:

Parameter	Type	Required	Description
acc_threshold_lowlimit	array[double]	Yes	Acceleration threshold lower limit, array length 4
acc_threshold_lowlimit_value	array[double]	Yes	Acceleration threshold lower limit value, array length 4
acc_threshold_uplimit	array[double]	Yes	Acceleration threshold upper limit, array length 4
acc_threshold_uplimit_value	array[double]	Yes	Acceleration threshold upper limit value, array length 4
vel_threshold_lowlimit	array[double]	Yes	Velocity threshold lower limit, array length 4
vel_threshold_lowlimit_value	array[double]	Yes	Velocity threshold lower limit value, array length 4
vel_threshold_uplimit	array[double]	Yes	Velocity threshold upper limit, array length 4
vel_threshold_uplimit_value	array[double]	Yes	Velocity threshold upper limit value, array length 4

{
  "acc_threshold_lowlimit": [13.0, 14.0, 15.0, 16.0],
  "acc_threshold_lowlimit_value": [13.0, 14.0, 15.0, 16.0],
  "acc_threshold_uplimit": [5.0, 6.0, 7.0, 8.0],
  "acc_threshold_uplimit_value": [5.0, 6.0, 7.0, 8.0],
  "vel_threshold_lowlimit": [9.0, 10.0, 11.0, 12.0],
  "vel_threshold_lowlimit_value": [9.0, 10.0, 11.0, 12.0],
  "vel_threshold_uplimit": [1.0, 2.0, 3.0, 4.0],
  "vel_threshold_uplimit_value": [1.0, 2.0, 3.0, 4.0]
}

Query Threshold Parameters

Field	Type	Description
0x8148	AUTO_MODIFY_ACC_THRESHOLD_PARA_INQUIRE

Request Parameters: None

Controller Response

Field	Type	Description
0x8149	AUTO_MODIFY_ACC_THRESHOLD_PARA_RESPOND

Response Parameters: Same as 0x8147