Remote IO Control

1. IO Function Interface Settings

1.1 IO Function Interface Settings (Teach Pendant Send)

Command Code: 0x2F01 IO_CONTROL_SET

Parameter Description:

Parameter	Type	Required	Description
inPort	object	Yes	Remote IO function port binding
inValue	object	Yes	Port value, IO parameter, 0: active low, 1: active high
program	array	Yes	Remote IO program DIN and value binding, 10 in total
robot	int	Yes	Robot number

inPort Object Parameters:

Parameter	Type	Description
start	int	Start, bound port
stop	int	Stop, bound port
pause	int	Pause, bound port
faultReset	int	Clear alarm, bound port
clearoutagekeep	int	Clear power outage keep data, bound port

inValue Object Parameters:

Parameter	Type	Description
start	int	Start
stop	int	Stop
pause	int	Pause
faultReset	int	Clear alarm
clearoutagekeep	int	Clear power outage keep data

program Array Parameters:

Parameter	Type	Description
port	int	Port number
value	int	Port value, 0 or 1

Request Example:

{
  "inPort": {
    "clearoutagekeep": 16,
    "faultReset": 4,
    "pause": 3,
    "start": 1,
    "stop": 2
  },
  "inValue": {
    "clearoutagekeep": 1,
    "faultReset": 1,
    "pause": 1,
    "start": 1,
    "stop": 1
  },
  "program": [
    {"port": 5, "value": 1},
    {"port": 6, "value": 0},
    {"port": 7, "value": 0},
    {"port": 8, "value": 1},
    {"port": 9, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1}
  ],
  "robot": 1
}

---

1.2 IO Function Interface Query (Teach Pendant Send)

Command Code: 0x2F02 IO_CONTROL_INQUIRE

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

1.3 IO Function Interface Response (Controller Return)

Command Code: 0x2F03 IO_CONTROL_RESPOND

Parameter Description: Same as 1.1 IO Function Interface Settings

Response Example:

{
  "inPort": {
    "clearoutagekeep": 16,
    "faultReset": 4,
    "pause": 3,
    "start": 1,
    "stop": 2
  },
  "inValue": {
    "clearoutagekeep": 1,
    "faultReset": 1,
    "pause": 1,
    "start": 1,
    "stop": 1
  },
  "program": [
    {"port": 5, "value": 1},
    {"port": 6, "value": 0},
    {"port": 7, "value": 0},
    {"port": 8, "value": 1},
    {"port": 9, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1},
    {"port": 0, "value": 1}
  ],
  "robot": 1
}

---

2. Reset Point Settings

2.1 Reset Point Position Parameter Settings (Teach Pendant Send)

Command Code: 0x2F04 IO_CONTROL_RESETPOS_SET

Parameter Description:

Parameter	Type	Required	Description
pos	array	Yes	Robot position (7 elements)
posSync	array	Yes	External axis position (5 elements)
robot	int	Yes	Robot number

Request Example:

{
  "pos": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "posSync": [0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1
}

---

2.2 Reset Point IO Parameter Settings (Teach Pendant Send)

Command Code: 0x2F14 IO_CONTROL_RESETPORT_SET

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
selectPiontOrFile	int	Yes	0: reset point, 1: reset program
inPort	int	Yes	Reset start, IO trigger port
inValue	int	Yes	Reset start, IO parameter
outPort	int	Yes	Reset end, IO output port
safeEnable	bool	Yes	Safety enable
returnway	int	Yes	0: joint interpolation, 1: linear interpolation

Request Example:

{
  "robot": 1,
  "selectPiontOrFile": 0,
  "inPort": 0,
  "inValue": 1,
  "outPort": 0,
  "safeEnable": true,
  "returnway": 0
}

---

2.3 Safety Point Deviation Parameter Settings

Command Code: 0x2F15 IO_CONTROL_RESETSAFEDEV_SET

Parameter Description:

Parameter	Type	Required	Description
deviation	array	Yes	Robot position deviation (7 elements)
deviationSync	array	Yes	External axis deviation (5 elements)
robot	int	Yes	Robot number

Request Example:

{
  "deviation": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 1.0],
  "deviationSync": [1.0, 1.0, 1.0, 1.0, 1.0],
  "robot": 1
}

---

2.4 Safety Point Position Notification

Command Code: 0x2F16 IO_CONTROL_NOTIS_SAFEPOS

Description: When running a job file with safety enable activated, the controller sends this if not at the safety point.

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Current robot
isSync	bool	Yes	false: robot not in safety zone, true: external axis not in safety zone
currentPos	array	Yes	Current position
safePos	array	Yes	Reset point position

Response Example:

{
  "robot": 1,
  "isSync": false,
  "currentPos": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "safePos": [0, 0.1, 2, 3.3, 88, 555.55, 6, 7.7, 88]
}

---

2.5 Return to Reset

Command Code: 0x2F17 RECOVERY_SITE

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

2.6 Reset Point Settings Query (Teach Pendant Send)

Command Code: 0x2F05 IO_CONTROL_RESET_INQUIRE

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

2.7 Reset Point Settings Response (Controller Return)

Command Code: 0x2F06 IO_CONTROL_RESET_RESPOND

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
selectPiontOrFile	int	Yes	0: point selected, 1: program selected
returnWay	int	Yes	0: movj selected, 1: movl selected
inPort	int	Yes	Reset start, IO trigger port
inValue	int	Yes	Reset start, IO parameter
outPort	int	Yes	Reset end, IO output port
safeEnable	bool	Yes	Safety enable
pos	array	Yes	Reset point coordinates
posSync	array	Yes	External axis reset point coordinates
deviation	array	Yes	Safety point range
deviationSync	array	Yes	External axis safety point range

Response Example:

{
  "robot": 1,
  "selectPiontOrFile": 1,
  "returnWay": 1,
  "inPort": 0,
  "inValue": 1,
  "outPort": 0,
  "safeEnable": true,
  "pos": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "posSync": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "deviation": [0, 0.1, 2, 3.3, 44, 555.55, 6, 7.7, 88],
  "deviationSync": [1.0, 1.0, 1.0, 1.0, 1.0]
}

---

2.8 Current Position Query (Teach Pendant Send)

Command Code: 0x2F07 IO_CONTROL_POS_INQUIRE

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

Request Example:

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

---

2.9 Current Position Response (Controller Return)

Command Code: 0x2F08 IO_CONTROL_POS_RESPOND

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
coord	int	Yes	Coordinate mode
pos	array	Yes	Radian position
posDeg	array	Yes	Degree position
configuration	int	Yes	Posture

Response Example:

{
  "robot": 1,
  "coord": 1,
  "pos": [0, 0.1, 2, 3.3, 44, 555.55],
  "posDeg": [0, 0.1, 2, 3.3, 44, 555.55],
  "configuration": 1
}

---

2.10 Dual-Robot Position Query (MOVJDOUBLE Instruction)

Command Code: 0x2F10 IO_CONTROL_DOUBLE_POS_INQUIRE

Description: MOVJDOUBLE instruction requires querying both the first and second robot positions in dual-robot mode.

Parameter Description:

Parameter	Type	Required	Description
robot1	int	Yes	Robot 1
coord1	int	Yes	Robot 1 coordinate: 1-Cartesian coordinate, 2-tool coordinate, 3-user coordinate
robot2	int	Yes	Robot 2
coord2	int	Yes	Same as robot 1

Request Example:

{
  "robot1": 1,
  "coord1": 1,
  "robot2": 2,
  "coord2": 1
}

---

2.11 Dual-Robot Position Response

Command Code: 0x2F11 IO_CONTROL_DOUBLE_POS_RESPOND

Parameter Description:

Parameter	Type	Required	Description
pos1Deg	array	Yes	Robot 1 axes 1-7 current position (in degrees)
pos1	array	Yes	Robot 1 axes 1-7 current position (in radians)
pos2Deg	array	Yes	Robot 2 axes 1-7 current position (in degrees)
pos2	array	Yes	Robot 2 axes 1-7 current position (in radians)

Response Example:

{
  "pos1Deg": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6],
  "pos1": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6],
  "pos2Deg": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6],
  "pos2": [0, 1.1, 2, 3.3, 4.4, 5.5, 6.6]
}

---

2.12 Open Job File

Command Code: 0x3114

Description: The reset program is fixed as RobotResetProgram with suffix .ResetPro

Parameter Description:

Parameter	Type	Required	Description
jobName	string	Yes	Job file name (fixed: RobotResetProgram)
robot	int	Yes	Robot number
suffixname	string	Yes	Job file suffix (fixed: .ResetPro)

Request Example:

{
  "jobName": "RobotResetProgram",
  "robot": 1,
  "suffixname": ".ResetPro"
}

---

2.13 Insert Instruction

Command Code: 0x3121

---

2.14 Save Job File

Command Code: 0x3120

Description: The reset program is fixed as RobotResetProgram with suffix .ResetPro

Parameter Description:

Parameter	Type	Required	Description
jobname	string	Yes	Job file name (fixed: RobotResetProgram)
robot	int	Yes	Robot number
suffix	string	Yes	Job file suffix (fixed: .ResetPro)

Request Example:

{
  "jobname": "RobotResetProgram",
  "robot": 1,
  "suffix": ".ResetPro"
}

---

3. Status Notification Settings Interface

3.1 Status Notification Settings (Teach Pendant Send)

Command Code: 0x2F09 IO_CONTROL_OUTPUT_SET

Parameter Description:

Parameter	Type	Required	Description
outPut	array	Yes	Output configuration array, each element corresponds to a robot
remoteOut	int	Yes	Remote mode
remoteOut_value	int	Yes	Remote mode value: 0, 1, 3 (blinking)
runOut	int	Yes	Run mode
runOut_value	int	Yes	Run mode value
startUp	int	Yes	Startup notification
startUp_value	int	Yes	Startup notification value
teachOut	int	Yes	Teach mode
teachOut_value	int	Yes	Teach mode value

outPut Array Element Parameters:

Parameter	Type	Description
IOenable	int	Enable DOUT binding
IOenable_value	int	Value: 0, 1, 3 (blinking)
continuable	int	Continuable execution DOUT binding
continuable_value	int	Value: 0, 1, 3 (blinking)
fault	int	Error notification DOUT binding
faultIsFickler	int	Value: 0, 1, 3 (blinking)
mainJobFirstLine	int	Main program first line DOUT binding
mainJobFirstLine_value	int	Value
pause	int	Pause DOUT binding
pause_value	int	Value
quickStopOut1	int	Emergency stop 1 DOUT binding
quickStopOut2	int	Emergency stop 2 DOUT binding
quickStopOutValue1	int	Value
quickStopOutValue2	int	Value
running	int	Running DOUT binding
running_value	int	Value
stop	int	Stop DOUT binding
stop_value	int	Value
teachBoxStateOut	int	Teach pendant unplug DOUT binding
teachBoxStateOutValue	int	Value

Request Example:

{
  "outPut": [
    {
      "IOenable": 1,
      "IOenable_value": 1,
      "continuable": 3,
      "continuable_value": 1,
      "fault": 5,
      "faultIsFickler": 1,
      "mainJobFirstLine": 7,
      "mainJobFirstLine_value": 1,
      "pause": 9,
      "pause_value": 1,
      "quickStopOut1": 11,
      "quickStopOut2": 12,
      "quickStopOutValue1": 1,
      "quickStopOutValue2": 1,
      "running": 15,
      "running_value": 1,
      "stop": 17,
      "stop_value": 1,
      "teachBoxStateOut": 0,
      "teachBoxStateOutValue": 1
    },
    {},
    {},
    {}
  ],
  "remoteOut": 1,
  "remoteOut_value": 1,
  "runOut": 2,
  "runOut_value": 1,
  "startUp": 3,
  "startUp_value": 1,
  "teachOut": 4,
  "teachOut_value": 1
}

---

3.2 Status Notification Query (Teach Pendant Send)

Command Code: 0x2F0A IO_CONTROL_OUTPUT_INQUIRE

Description: data: none

---

3.3 Status Notification Response (Controller Return)

Command Code: 0x2F0B IO_CONTROL_OUTPUT_RESPOND

Description: data: same as 0x2F09

---

4. IO Reset Settings Interface

4.1 IO Output Reset Settings (Teach Pendant Send)

Command Code: 0x2F0D IO_CONTROL_IORESET_SET

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
type	int	Yes	1-IO reset, 2-mode switch stop, 3-program error stop
enable	array	Yes	16 elements, values 0 or 1, contains reset values and whether to reset
value	array	Yes	16 elements, values 0 or 1, contains reset values and whether to reset

Request Example:

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

---

4.2 IO Output Reset Query (Teach Pendant Send)

Command Code: 0x2F0E IO_CONTROL_IORESET_INQUIRE

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
type	int	Yes	Type

Request Example:

{
  "robot": 1,
  "type": 1
}

---

4.3 IO Output Reset Response (Controller Return)

Command Code: 0x2F0F IO_CONTROL_IORESET_RESPOND

Description: data: same as 0x2F0D

---

5. IO Function Status Interface

5.1 IO Function Status Query (Teach Pendant Send)

Command Code: 0x2F12 IO_FUNCTION_INQUIRE

Parameter Description:

Parameter	Type	Required	Description
type	int	Yes	1-digital input, 2-digital output, 3-analog input, 4-analog output

Request Example:

{
  "type": 1
}

---

5.2 IO Function Status Response (Controller Return)

Command Code: 0x2F13 IO_FUNCTION_RESPOND

Parameter Description:

Parameter	Type	Required	Description
type	int	Yes	Type
IOFunction	array	Yes	16 for digital, 8 for analog

Response Example:

{
  "type": 1,
  "IOFunction": [
    "Remote: Robot 1 Start Robot 1 Vision: Trigger Port",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    "",
    ""
  ]
}

---

6. Remote Mode Interface

6.1 Reservation Execution Status Query (Teach Pendant Send)

Command Code: 0x2F1B RESERVE_EXE_STATE_INQUIRE

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

6.2 Reservation Execution Status Response (Controller Return)

Command Code: 0x2F1C RESERVE_EXE_STATE_RESPOND

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
current	object	Yes	Current running status
queue	array	Yes	Queue (10 elements)

current Object Parameters:

Parameter	Type	Description
station	int	Workstation (program number)
name	string	Program name
runtime	int	Current run completed count
times	int	Current run total count
count	int	Total run count
status	int	Run status: 0-no reservation, 1-reserving, 2-running, 3-reserved, 4-program paused

queue Array Element Parameters:

Parameter	Type	Description
station	int	Workstation (program number)
name	string	Program name
times	int	Run count
count	int	Total run count
status	int	Status

Response Example:

{
  "robot": 1,
  "current": {
    "station": 1,
    "name": "Q1",
    "runtime": 1,
    "times": 3,
    "count": 1,
    "status": 2
  },
  "queue": [
    {"station": 1, "name": "Q4", "times": 2, "count": 0, "status": 1},
    {"station": 1, "name": "Q1", "times": 6, "count": 0, "status": 1},
    {"station": 1, "name": "Q3", "times": 1, "count": 0, "status": 1},
    {"station": 1, "name": "", "times": 1, "count": 0, "status": 0},
    {"station": 1, "name": "", "times": 2, "count": 0, "status": 0}
  ]
}

---

6.3 Clear Total Run Count

Command Code: 0x2F1D RESERVE_EXE_STATE_CLEAR

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

7. IO Model Settings

7.1 IO Model Settings (Teach Pendant Send)

Command Code: 0x2F21 IO_TYPE_SET

Description: Takes effect after restart

Parameter Description:

Parameter	Type	Required	Description
simuNum	int	Yes	Virtual IO count
serialAnalog	object	Yes	Serial analog configuration

serialAnalog Object Parameters:

Parameter	Type	Description
type	string	Options: SUPER_ANAIO, DAC_ANAIO
port	int	Port number
baudRate	int	Baud rate

Request Example:

{
  "simuNum": 0,
  "serialAnalog": {
    "type": "SUPER_ANAIO",
    "port": 1,
    "baudRate": 115200
  }
}

---

7.2 IO Model Query (Teach Pendant Send)

Command Code: 0x2F22 IO_TYPE_INQUIRE

---

7.3 IO Model Response (Controller Return)

Command Code: 0x2F23 IO_TYPE_RESPOND

Parameter Description:

Parameter	Type	Required	Description
num	int	Yes	IO board count
type	array	Yes	IO board type list
portNum	array	Yes	Port configuration
simuNum	int	Yes	Virtual IO count
serialAnalog	object	Yes	Serial analog configuration

Response Example:

{
  "num": 3,
  "type": ["IO Board R1", "Mengtong", "Virtual IO"],
  "portNum": [[16, 16, 2, 2], [20, 16, 4, 2], [16, 16, 0, 0]],
  "simuNum": 1,
  "serialAnalog": {
    "type": "SUPER_ANAIO",
    "port": 1,
    "baudRate": 115200
  }
}

---

8. Remote Status Notification

8.1 Remote Status Notification Settings

Command Code: 0x2F24 IO_REMOTEOUTPUT_SET

Parameter Description:

Parameter	Type	Required	Description
outPut	array	Yes	Output configuration array
robot	int	Yes	Robot number

outPut Array Element Parameters:

Parameter	Type	Description
outagerecover	int	Power outage keep data recovery DOUT1-2 port binding
outagerecover_value	int	DOUT1-2 port value: 0, 1, 2 (2 means blinking)
program1~program10	int	Remote IO program DOUT port binding
program_value1~program_value10	int	Remote IO program DOUT output port value: 0, 1, 2 (2 means blinking)

Request Example:

{
  "outPut": [{
    "outagerecover": 2,
    "outagerecover_value": 0,
    "program1": 1,
    "program2": 2,
    "program3": 3,
    "program4": 0,
    "program5": 0,
    "program6": 0,
    "program7": 0,
    "program8": 63,
    "program9": 64,
    "program10": 0,
    "program_value1": 1,
    "program_value2": 1,
    "program_value3": 1,
    "program_value4": 0,
    "program_value5": 0,
    "program_value6": 0,
    "program_value7": 0,
    "program_value8": 0,
    "program_value9": 2,
    "program_value10": 0
  }],
  "robot": 1
}

---

8.2 Remote Status Notification Query

Command Code: 0x2F25 IO_REMOTEOUTPUT_INQUIRE

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

8.3 Remote Status Notification Response

Command Code: 0x2F26 IO_REMOTEOUTPUT_RESPOND

Description: Content same as 0x2F24

---

9. Safety Monitoring Settings

9.1 Safety Monitoring Settings (Teach Pendant Send)

Command Code: 0x2F31 IO_SAFE_CHECK_SET

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
safeScreen	object	Yes	Safety light curtain configuration
quickStop	object	Yes	Quick stop configuration

safeScreen Object Parameters:

Parameter	Type	Description
enable	bool	Enable safety light curtain
port1	int	Safety light curtain 1 DIN number (1~16)
value1	int	IO level parameter: 0-low level, 1-high level
port2	int	Safety light curtain 2 DIN number (1~16)
value2	int	IO level parameter: 0-low level, 1-high level

quickStop Object Parameters:

Parameter	Type	Description
enable	bool	Enable
port1	int	Emergency stop 1 DIN number (1~16)
value1	int	IO level parameter: 0-low level, 1-high level
port2	int	Emergency stop 2 DIN number (1~16)
value2	int	IO level parameter: 0-low level, 1-high level
time	int	Quick stop time (50~200ms)
shieldFlag1	bool	Shield emergency stop 1
shieldFlag2	bool	Shield emergency stop 2
shieldTime	int	Shield time (seconds, 10-digit integer)

Request Example:

{
  "robot": 1,
  "safeScreen": {
    "enable": false,
    "port1": 0,
    "value1": 1,
    "port2": 0,
    "value2": 1
  },
  "quickStop": {
    "enable": false,
    "port1": 15,
    "value1": 1,
    "port2": 15,
    "value2": 1,
    "time": 60,
    "shieldFlag1": false,
    "shieldFlag2": false,
    "shieldTime": 30
  }
}

---

9.2 Safety Monitoring Query (Teach Pendant Send)

Command Code: 0x2F32 IO_SAFE_CHECK_INQUIRE

Parameter Description:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

9.3 Safety Monitoring Response (Controller Return)

Command Code: 0x2F33 IO_SAFE_CHECK_RESPOND

Description: Same as 0x2F31

---

10. IO Trigger Message Settings

10.1 IO Trigger Message Settings (DIN)

Command Code: 0x2F41 DIN_TRIGGER_MSG_SET

Parameter Description:

Parameter	Type	Required	Description
enable	array	Yes	16 data per IO board: 1-enable port alarm, 2-disable
value	array	Yes	16 data per IO board: port level status, 1-high level, 0-low level
msg	array	Yes	16 data per IO board: message content

Request Example:

{
  "enable": [1, 1, 0, 0, 0, 0, 1, 1],
  "value": [0, 1, 1, 0, 0, 1, 1],
  "msg": ["", "qwer", "", "asd", ""]
}

---

10.2 IO Trigger Message Query

Command Code: 0x2F42 DIN_TRIGGER_MSG_INQUIRE

Description: data: none

---

10.3 IO Trigger Message Response

Command Code: 0x2F43 DIN_TRIGGER_MSG_RESPOND

Description: Same as 0x2F41

---

10.4 IO Digital Output DOUT Settings

Command Code: 0x2F44 DOUT_TRIGGER_MSG_SET

Parameter Description:

Parameter	Type	Required	Description
enable	array	Yes	16 data per IO board: 1-enable port alarm, 2-disable
value	array	Yes	16 data per IO board: port level status, 1-high level, 0-low level
msg	array	Yes	16 data per IO board: message content

Request Example:

{
  "enable": [1, 1, 0, 0, 0, 0, 1, 1],
  "value": [0, 1, 1, 0, 0, 1, 1],
  "msg": ["", "qwer", "", "asd", ""]
}

---

10.5 IO Digital Output Query

Command Code: 0x2F45 DOUT_TRIGGER_MSG_INQUIRE

Description: data: none

---

10.6 IO Digital Output Response

Command Code: 0x2F46 DOUT_TRIGGER_MSG_RESPOND

Description: Same as 0x2F44

---

11. Configuration File Modification and Query Operations

11.1 Modify DIN Annotation Configuration File

Command Code: 0x2F47 DIN_ANNOTATION_NAME_SET

Parameter Description:

Parameter	Type	Required	Description
name	array	Yes	16 data per IO board

Request Example:

{
  "name": ["", "qwer", "", "asd", ""]
}

---

11.2 Query DIN Configuration File

Command Code: 0x2F48 DIN_ANNOTATION_NAME_INQUIRE

---

11.3 Return DIN Configuration File

Command Code: 0x2F49 DIN_ANNOTATION_NAME_RESPOND

---

11.4 Set DOUT

Command Code: 0x2F4A DOUT_ANNOTATION_NAME_SET

Parameter Description:

Parameter	Type	Required	Description
name	array	Yes	16 data per IO board

Request Example:

{
  "name": ["", "dsad", "wa"]
}

---

11.5 Teach Pendant DOUT Query

Command Code: 0x2F4B DOUT_ANNOTATION_NAME_INQUIRE

---

11.6 Controller Returns DOUT Data

Command Code: 0x2F4C DOUT_ANNOTATION_NAME_RESPOND

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11.7 Set AIN Port Annotation Name

Command Code: 0x2F4D AIN_ANNOTATION_NAME_SET

Parameter Description:

Parameter	Type	Required	Description
name	array	Yes	16 data per IO board

Request Example:

{
  "name": ["", "asd", "ayt", ""]
}

---

11.8 Teach Pendant Queries AIN Parameters

Command Code: 0x2F4E AIN_ANNOTATION_NAME_INQUIRE

Description: data: none

---

11.9 Teach Pendant Returns Query Result

Command Code: 0x2F4F AIN_ANNOTATION_NAME_RESPOND

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11.10 Set AOUT Port Annotation Name

Command Code: 0x2F50 AOUT_ANNOTATION_NAME_SET

Parameter Description:

Parameter	Type	Required	Description
name	array	Yes	16 data per IO board

Request Example:

{
  "name": ["", "das", "dsf", "ty"]
}

---

11.11 Teach Pendant Queries AOUT Parameter Configuration File

Command Code: 0x2F51 AOUT_ANNOTATION_NAME_INQUIRE

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11.12 Teach Pendant Returns Query Result

Command Code: 0x2F52 AOUT_ANNOTATION_NAME_RESPOND