System Status

Controller Initialization Completion

Query Whether Complete

Command Word: 0x4305 CONTROLLER_INIT_FINISH_INQUIRE

{}

Controller Response

Command Word: 0x4306 CONTROLLER_INIT_FINISH_RESPOND

Parameter Description:

Parameter	Type	Description
finishinit	bool	true: complete, false: not complete

{
  "finishinit": true
}

---

Controller IP Settings

Controller IP Settings

Command Word: 0x4301 CONTROLLER_IP_SET

Parameter Description:

Parameter	Type	Description
name	string	Network interface name
address	string	IP address
gateway	string	Gateway
dns	string	DNS server

{
  "name": "p1p1",
  "address": "192.168.1.13",
  "gateway": "192.168.1.1",
  "dns": "114.114.114.114"
}

Query Controller IP

Command Word: 0x4302 CONTROLLER_IP_INQUIRE

No parameters

Controller Response

Command Word: 0x4303 CONTROLLER_IP_RESPOND

Parameter Description:

Parameter	Type	Description
num	int	Network interface count
network	array	Network interface information array

{
  "num": 1,
  "network": [
    {
      "name": "p1p1",
      "address": "192.168.1.13",
      "gateway": "192.168.1.1",
      "dns": "114.114.114.114"
    },
    {
      "name": "p2p1",
      "address": "192.168.1.14",
      "gateway": "192.168.1.1",
      "dns": "114.114.114.114"
    }
  ]
}

---

Controller License

Get Controller ID

Command Word: 0x5052 IDENTIFY_NUMBER_INQUIRE

Controller Response

Command Word: 0x5053 IDENTIFY_NUMBER_RESPOND

Parameter Description:

Parameter	Type	Description
controllerID	string	Controller ID

{
  "controllerID": "4DC9F0249098C82E"
}

Get Controller Remaining Usage Days

Command Word: 0x5055 USE_REST_DAYS_INQUIRE

Controller Response

Command Word: 0x5056 USE_REST_DAYS_RESPOND

Parameter Description:

Parameter	Type	Description
restdays	int	Remaining days, -1: unlimited usage, 0: usage period expired
year	int	Expiration year
mon	int	Expiration month
day	int	Expiration day

{
  "restdays": 30,
  "year": 1,
  "mon": 1,
  "day": 1
}

Update Serial Number

Command Word: 0x5057 LICENSE_SERIAL_SET

Parameter Description:

Parameter	Type	Description
license	string	Controller serial number

{
  "license": "ACOCWKBZHSKBEJHI"
}

Controller Response

Command Word: 0x5059 LICENSE_SERIAL_RESPOND

Parameter Description:

Parameter	Type	Description
result	string	License key updated successfully, controller will restart
ivalid	string	Invalid license key
error	string	Tampering detected, unlock refused

{
  "result": "success",
  "ivalid": "Invalid license key!",
  "error": "Tampering detected, unlock refused!"
}

Query Image Version

Command Word: 0x505A IMAGE_VERSION_INQUIRE (not available on teach pendant)

Return Query Result

Command Word: 0x505B IMAGE_VERSION_RESPOND

Parameter Description:

Parameter	Type	Description
result	bool	Whether query succeeded
version	int	Version number (returned when query succeeds)

{
  "result": true,
  "version": xx
}

Controller Send (Unauthorized Usage Notice)

Command Word: 0x505C DISABLE_CONTROLLER

Parameter Description:

Parameter	Type	Description
reason	string	Controller unauthorized usage notice message

{
  "reason": ""
}

Controller Send (Remaining Days Reminder)

Command Word: 0x505F REST_DAYS_REMIND

Parameter Description:

Parameter	Type	Description
restDays	int	Controller sends remaining usage days

{
  "restDays": 0
}

---

Version Number Acquisition

When the teach pendant needs to get the current controller version number, send the following command:

Command Word: 0x3402 VERSIONNUM_INQUIRE

Parameter Description:

Parameter	Type	Description
version	string	Version number content
servoVersion	string	Servo version
ocmVersion	string	Static library version
ioVersion	string	IO board version

{
  "version": "v1.0-rc1-67-gf34dae7",
  "servoVersion": xx,
  "ocmVersion": xx,
  "ioVersion": xx
}

When Controller Receives Query Command, Sends the Following

Command Word: 0x3403 VERSIONNUM_RESPOND

Parameter Description:

Parameter	Type	Description
configFileVersionMismatch	bool	Whether config file matches, false: mismatch; true: match
jobFileVersion	string	Job file version
rtlVersion	string	Controller version
sysClock	string	System clock, format: YYYY.MM.DD HH:MM:SS
version	string	Version number content
servoVersion	string	Servo version (Jiutong controller returns empty string)
ocmVersion	string	Static library version (Jiutong controller returns empty string)
ioVersion	string	IO version number (Jiutong controller returns empty string)
nodka_c1201	object	C1201 controller specific node

{
  "configFileVersionMismatch": false,
  "jobFileVersion": "5.2.0",
  "rtlVersion": "22.08.0",
  "sysClock": "2023.11.10 13:29:25",
  "version": "v1.0-rc1-67-gf34dae7",
  "servoVersion": "",
  "ocmVersion": "",
  "ioVersion": "",
  "nodka_c1201": {
    "deviceId": "",
    "hw_version": "",
    "fw_version": "",
    "drv_version": ""
  }
}

nodka_c1201 Node Parameter Description:

Parameter	Type	Description
deviceId	string	Device ID
hw_version	string	Hardware version number
fw_version	string	Firmware version number
drv_version	string	Driver version number

---

Version Verification

Query Whether Current Version Teach Pendant Program Exists

Command Word: 0x3404 EXIST_TEACHBOX_EQUAL_QTTP_INQUIRE

Parameter Description:

Parameter	Type	Description
MD5	string	MD5 value of teach pendant program

{
  "MD5": "xx"
}

Return Query Result

Command Word: 0x3405 EXIST_TEACHBOX_EQUAL_QTTP_RESPOND

If not found, the current version program needs to be uploaded.

Parameter Description:

Parameter	Type	Description
backuppath	string	Teach pendant program path

{
  "backuppath": "xx"
}

Query Whether Teach Pendant Program Matching Controller Version Exists

Command Word: 0x3406 EXIST_CONTROLLER_MATCHED_QTTP_INQUIRE

No parameters

Return Query Result

Command Word: 0x3407 EXIST_CONTROLLER_MATCHED_QTTP_RESPOND

If the result is yes, a dialog box will pop up for the user to choose whether to auto-upgrade.

Parameter Description:

Parameter	Type	Description
backuppath	string	Teach pendant program path

{
  "backuppath": "xx"
}

---

Reboot Controller

When rebooting the controller, the teach pendant sends:

Command Word: 0x5061 REBOOT_CONTROLLER

No parameters

---

Factory Reset

When performing factory reset, the teach pendant sends:

Command Word: 0x5064 RETURN_FACTORY_SET

Parameter Description:

Parameter	Type	Description
clearConfigFile	bool	Clear all system configuration files
clearExtendedFile	bool	Clear all extended files

{
  "clearConfigFile": true,
  "clearExtendedFile": true
}

---

System Auto Backup

Backup System

Teach pendant sends:

Command Word: 0x5065 CONTROLLER_BACKUP_INQUIRE

No parameters

Controller Response

Command Word: 0x5066 CONTROLLER_BACKUP_RESPOND

Parameter Description:

Parameter	Type	Description
backUpNum	int	Backup count
backUpName	array	Backup system names, up to ten

{
  "backUpNum": 1,
  "backUpName": ["string", "string", "string"]
}

Restore System

Teach pendant sends:

Command Word: 0x5067 CONTROLLER_BACKUP_RESTORE

Parameter Description:

Parameter	Type	Description
backUpOneName	string	System name to restore

{
  "backUpOneName": "string"
}

Controller Response

Command Word: 0x5068 CONTROLLER_BACKUP_RESTORE_RESPOND

Parameter Description:

Parameter	Type	Description
success	bool	true: system restore succeeded, false: system restore failed

{
  "success": true
}

---

Servo Parameters

Set Servo Internal Parameters via Controller

Command Word: 0x5071 SERVO_INSIDE_PARM_SET

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
servoNum	int	Servo number
ParameterName	object	Servo parameter name

{
  "robot": 1,
  "servoNum": 1,
  "ParameterName": {
    "value": "",
    "unit": "",
    "upLimit": "",
    "lowLimit": ""
  }
}

Teach Pendant Query

Command Word: 0x5072 SERVO_INSIDE_PARM_INQUIRE

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
servoNum	int	Servo number

{
  "robot": 1,
  "servoNum": 1
}

Controller Return

Command Word: 0x5073 SERVO_INSIDE_PARM_RESPOND

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
servoNum	int	Servo number
sendNum	int	Send sequence number
totalNum	int	Total count
servo	array	Specific servo parameter array

{
  "robot": 1,
  "servoNum": 1,
  "sendNum": 1,
  "totalNum": 1,
  "servo": [
    {
      "name": "Motor Rated Power",
      "value": 3000
    },
    {
      "name": "Motor Rated Speed",
      "value": 4000
    }
  ]
}

---

File Transfer

Request to Upload a File

Command Word: 0x5501 REQUEST_UPLOAD_FILE

Parameter Description:

Parameter	Type	Description
name	string	File name
size	int	File size

{
  "name": "vxWorks",
  "size": 4096
}

Accept Upload Request / Reject Upload Request

Command Word: 0x5502 REQUEST_UPLOAD_RESPOND

Parameter Description:

Parameter	Type	Description
answer	string	"yes": accept upload, "busy": controller busy

{
  "answer": "yes"
}

Request to Download a File

Command Word: 0x5504 REQUEST_DOWNLOAD_FILE

Parameter Description:

Parameter	Type	Description
name	string	File name

{
  "name": "log.0"
}

Accept Download Request / Reject Download Request

Command Word: 0x5505 REQUEST_DOWNLOAD_RESPOND

Parameter Description:

Parameter	Type	Description
answer	string	"yes": accept download, "busy": controller busy, "nofile": no such file
name	string	Job file full path
size	int	If rejected, size is invalid

{
  "answer": "yes",
  "name": "log.0",
  "size": 4096
}

---

File Transfer Network Exception Interrupt (Teach Pendant Only)

Command Word: 0x5525 DownLoadInterrupt

No parameters

{}

---

Teach Pendant Queries Controller Configuration File Directory

Command Word: 0x5507 CONFIG_FILE_INQUIRY

Parameter Description:

Parameter	Type	Description
isExport	bool	true: export configuration, false: import configuration

{
  "isExport": true
}

---

Controller Sends Configuration File Directory to Teach Pendant

Command Word: 0x5508 CONFIG_FILE_RESPOND

Parameter Description:

Parameter	Type	Description
filenum	int	Configuration file count
filelist	array	Configuration file name list

{
  "filenum": 2,
  "filelist": ["xxx.json", "yyy.json"]
}

---

Send File Binary Data

Command Word: 0x5511 UploadFileData (notifies controller file sending complete)

Command Word: 0x5512 UploadFileDone (sends file to controller in loop)

Controller Response

Command Word: 0x5513 ReceiveUploadFinish

Parameter Description:

Parameter	Type	Description
finish	bool	true means upload success, false means failure

{
  "finish": true
}

---

Teach Pendant Requests Log File List

Command Word: 0x5542 LOGFILE_LIST_INQUIRE

Parameter Description:

Parameter	Type	Description
num	int	Number of recent files to get, available values: 5, 30, 100

{
  "num": 5
}

Controller Returns Log File List

Command Word: 0x5543 LOGFILE_LIST_RESPOND

Parameter Description:

Parameter	Type	Description
absolutepath	string	Log directory path
logfilenum	int	Note: this number may not equal the num above
logfilelist	array	Log file list

{
  "absolutepath": "log/",
  "logfilenum": 3,
  "logfilelist": ["logInfo.0", "logInfo.1", "logInfo.2"]
}

---

ENI File List Query

Command Word: 0x5545 ENIFILE_LIST_INQUIRE

Parameter Description:

Parameter	Type	Description
num	int	Number of recent files to get, available values: 5, 30, 100

{
  "num": 5
}

Controller Returns ENI File List

Command Word: 0x5546 ENIFILE_LIST_RESPOND

Parameter Description:

Parameter	Type	Description
absolutepath	string	File directory path
ENIfilenum	int	Note: this number may not equal the num above

{
  "absolutepath": "log/",
  "ENIfilenum": 3
}

---

Teach Pendant Sends Reception Complete

Command Word: 0x5544 DownLoadControlLogFileFinish

---

Teach Pendant Requests Job File List

Command Word: 0x5532 JOBFILE_LIST_INQUIRE

Controller Returns Job File Directory and Count

Command Word: 0x5533 JOBFILE_SUM_RESPOND

Parameter Description:

Parameter	Type	Description
absolutepath	array	Job file paths
jobfilenum	array	Job file count under each path

{
  "absolutepath": ["/job/R1/", "/job/R2/", "/job/R3/", "/job/R4/"],
  "jobfilenum": [2, 33, 233, 666]
}

Controller Returns Job File List

Command Word: 0x5534 JOBFILE_LIST_RESPOND

Parameter Description:

Parameter	Type	Description
robot	int	Robot number
listnum	int	Up to 10
jobfilelist	array	Job file list

{
  "robot": 1,
  "listnum": 2,
  "jobfilelist": [
    {
      "name": "xxx.JBR",
      "MD5": "123"
    },
    {
      "name": "yyy.JBR",
      "MD5": "132"
    }
  ]
}

Reception Complete Sent to Teach Pendant

Command Word: 0x5535 JOBFILE_LIST_FINISH

No parameters. Sent to teach pendant after all four robots are sent.

---

Teach Pendant Queries Lua Script List

Command Word: 0x5552 LUASCRIPT_LIST_INQUIRE

No parameters

Controller Returns Lua Script List

Command Word: 0x5553 LUASCRIPT_LIST_RESPOND

Parameter Description:

Parameter	Type	Description
absolutepath	string	Lua script directory path
sum	int	Total list count
scriptlist	array	Script list

{
  "absolutepath": "lua/",
  "sum": 3,
  "scriptlist": ["ww.lua", "ee.lua"]
}

---

Message Prompts

Error Prompt

Command Word: 0x2B03 ERROR_CODE

Warning Prompt

Command Word: 0x2B04 WARNING_CODE

Info Bar Prompt

Command Word: 0x2B05 INFO_CODE

Parameter Description:

Parameter	Type	Description
data	string	Info bar content
type	int	Message code

{
  "data": "Example",
  "type": 1234
}

Popup Prompt

Command Word: 0x2B06 POPUP_CODE

Parameter Description:

Parameter	Type	Description
count	int	Number of popup buttons, max 3
text1	string	Main text displayed in popup center
text2	string	Button 1 text
text3	string	Button 2 text
text4	string	Button 3 text
kind	int	Popup prompt type, 1=message, 2=warning, 3=error
node	string	Robot number 1-4
Tips	bool	Popup shown as true

{
  "count": 1,
  "text1": "Example",
  "text2": "Example",
  "text3": "Example",
  "text4": "Example",
  "kind": 1,
  "node": "1",
  "Tips": true
}

Popup Interaction Feedback

Settings based on user's popup operation:

Command Word: 0x2B07 GET_OPTION

Parameter Description:

Parameter	Type	Description
node	string	Robot number 1-4
option	int	1-3, corresponding to popup option 1-3 content

{
  "node": "1",
  "option": 1
}

---

Controller Time Query

Time Query

Command Word: 0x5742 CONTROLLER_TIME_INQUIRE

Parameter Description:

Parameter	Type	Description
type	int	1: get seconds from system start to now, 0: display time
format	int	1: get Beijing time, 0: get timestamp

{
  "type": 0,
  "format": 0
}

Return Query Result

Command Word: 0x5743 CONTROLLER_TIME_RESPOND

Parameter Description:

Parameter	Type	Description
tType	int	1: get seconds from system start to now, 0: display time
format	int	1: get Beijing time, 0: get timestamp
date	object	When format is 1, expressed in Greenwich Mean Time
year	int	Year in date
mon	int	Month in date
day	int	Day in date
hour	int	Hour in time
min	int	Minute in time
sec	int	Second in time
msec	int	Millisecond in time
timestamp	object	Timestamp recorded in seconds and nanoseconds
s	int	Seconds in timestamp
ns	int	Nanoseconds in timestamp

{
  "tType": 0,
  "format": 0,
  "date": {
    "year": 2023,
    "mon": 1,
    "day": 1,
    "hour": 1,
    "min": 1,
    "sec": 1,
    "msec": 1
  },
  "timestamp": {
    "s": 1,
    "ns": 1
  }
}

---

Copy Robot Parameters

Command Word: 0x9111 COPY_ROBOT_PARAM

Parameter Description:

Parameter	Type	Description
mainRobot	int	Robot number of the robot whose parameters are being copied
copyToRobot	array	Array index represents robot number; array element: 1: needs copy, 0: no copy needed

{
  "mainRobot": 1,
  "copyToRobot": [0, 1, 0, 1]
}

---

Send and Receive Messages

// 0x95XX is occupied by upper computer service functions

Server Send Error

Command Word: 0x6010 SEVERO_ERROR

Send Robot Error

Command Word: 0x6020 ROBOT_ERROR

Send Controller Error

Command Word: 0x6030 CONTROLLER_ERROR

Send Memory Error

Command Word: 0x6040 MEMORY_ERROR

Warning Type

Command Word: 0x6110 WARNING_TYPE

Message Type

Command Word: 0x6210 INFO_TYPE

---

Hard Disk Status

Hardware Status Query

Command Word: 0x50D2 HARDDISK_STATUS_INQUIRE

No parameters

{}

Controller Returns After Hardware Status Query

Command Word: 0x50D3 HARDDISK_STATUS_RESPOND

Parameter Description:

Parameter	Type	Description
Estimated_Available_Time	int	Estimated available time, unit: h
get_harddisk_warning_time	int	Hard disk warning time, unit: h

{
  "Estimated_Available_Time": 200,
  "get_harddisk_warning_time": 500
}

Set Hard Disk Warning Time

Command Word: 0x50D4 HARDDISK_WARNING_TIME_SET

Parameter Description:

Parameter	Type	Description
set_harddisk_warning_time	int	Hard disk warning time, unit: h

{
  "set_harddisk_warning_time": 500
}

---

Operation Parameters

Operation Parameter Settings

Command Word: 0x50A1 OPERATE_PARAM_SET

Parameter Description:

Parameter	Type	Description
OutageKeepFunctionFlag	bool	Power outage keep function
checkServoStatusWordMaxTime	int	Servo response time, unit: ms, range 1-1000
runModeAutoManBegFlag	bool	Auto power-on when switching to run mode
remoteUseReserveModeFlag	bool	Reservation mode
remoteAllowContinueRunFlag	bool	Remote IO breakpoint execution
remoteAllowCurrentRunFlag	bool	Remote IO current line execution
remoteSwitchModeEnable	bool	Switch to remote mode without teach pendant
allowReserveRunningPro	bool	Allow reservation again while remote IO program is running
SetSafeScreenTeachInvalidFlag	bool	Safety light curtain disabled in teach mode
keepStepRunFlag	int	Single step/return zero/reset point/run operation mode, 0: click to run, 1: press to run
defaultRunningSpeed	int	Default speed on power-on in run mode
language	string	Language option: "chinese", "english", "korean"
craftSelect	string	Process selection: general-general process, special-dedicated process, punch-stamping process, pallet-palletizing process, weld-welding process, cut-cutting process
switch_only_note	bool	Instruction insert only show point annotation, true: only show annotation, false: show both

{
  "OutageKeepFunctionFlag": false,
  "checkServoStatusWordMaxTime": 100,
  "runModeAutoManBegFlag": false,
  "remoteUseReserveModeFlag": false,
  "remoteAllowContinueRunFlag": true,
  "remoteAllowCurrentRunFlag": false,
  "remoteSwitchModeEnable": false,
  "allowReserveRunningPro": false,
  "SetSafeScreenTeachInvalidFlag": false,
  "keepStepRunFlag": 0,
  "defaultRunningSpeed": 1,
  "language": "chinese",
  "craftSelect": "general",
  "switch_only_note": false
}

Query

Command Word: 0x50A2 OPERATE_PARAM_INQUIRE

No parameters

Controller Return

Command Word: 0x50A3 OPERATE_PARAM_RESPOND

Parameter Description:

Parameter	Type	Description
rebootRunEnable	bool	Power outage keep function
defaultRunningSpeed	int	Default speed on power-on in run mode
runModeAutoManBegFlag	bool	Auto power-on when switching to run mode
remoteUseReserveModeFlag	bool	Reservation mode
remoteAllowContinueRunFlag	bool	Remote IO breakpoint execution
remoteAllowCurrentRunFlag	bool	Remote IO current line execution
remoteSwitchModeEnable	bool	Switch to remote mode without teach pendant
allowReserveRunningPro	bool	Allow reservation again while remote IO program is running
SetSafeScreenTeachInvalidFlag	bool	Safety light curtain disabled in teach mode
keepStepRunFlag	int	Single step/return zero/reset point/run operation mode, 0: click to run, 1: press to run
craftSelect	string	Process selection
switch_only_note	bool	Instruction insert only show point annotation

{
  "rebootRunEnable": false,
  "defaultRunningSpeed": 1,
  "runModeAutoManBegFlag": false,
  "remoteUseReserveModeFlag": false,
  "remoteAllowContinueRunFlag": true,
  "remoteAllowCurrentRunFlag": false,
  "remoteSwitchModeEnable": false,
  "allowReserveRunningPro": false,
  "SetSafeScreenTeachInvalidFlag": false,
  "keepStepRunFlag": 0,
  "craftSelect": "general",
  "switch_only_note": false
}

---

Switch System

Command Word: 0x5101 SWITCH_MASTER

No parameters

---

Get Supported Languages

Query Language Support

Command Word: 0x50A5 LANGUAGE_SUPPORT_INQUIRE

No parameters

{}

Return Query Result

Command Word: 0x50A6 LANGUAGE_SUPPORT_RESPOND

Parameter Description:

Parameter	Type	Description
language	array	Supported language list
language_used	string	Currently used language

{
  "language": ["Chinese", "Korean", "English"],
  "language_used": "Chinese"
}

Compare Teach Pendant and Controller Current Language

Command Word: 0x50A7 TEACHBOX_LANGUAGE

Parameter Description:

Parameter	Type	Description
teachbox_language	string	Teach pendant current language

{
  "teachbox_language": "Chinese"
}

---

Unplug Teach Pendant

Send When Teach Pendant Unplugged

Command Word: 0x7277 TEACHBOXSTATE_CLOSE

No parameters

{}

Insert Teach Pendant to Restore Communication

Command Word: 0x7278 TEACHBOXSTATE_OPEN

No parameters

{}