Digital Input/Output
1. GPIO_DOUT_SET - Set Digital Output
Command Code: 0x3601
The teach pendant sends this command when setting DOUT.
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| port | int | Yes | Port number, starting from 1 |
| status | int | Yes | Port status: 0=low level, 1=high level |
Request Example
{
"port": 1,
"status": 1
}2. GPIO_DOUT_INQUIRE - Query Digital Output Status
Command Code: 0x3602
The teach pendant sends this command when querying DOUT status.
Request Parameters
None
3. GPIO_DOUT_RESPOND - Query Digital Output Status Response
Command Code: 0x3603
The controller returns this command after receiving the query request.
Response Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| status | array | Yes | Status array for each output port |
status Array Element Description:
| Value | Description |
|---|---|
| 0 | Low level |
| 1 | High level |
| -1 | No such port |
Response Example
{
"status": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}4. GPIO_DIN_INQUIRE - Query Digital Input Status
Command Code: 0x3605
The teach pendant sends this command when querying DIN status.
Request Parameters
None
5. GPIO_DIN_RESPOND - Query Digital Input Status Response
Command Code: 0x3606
The controller returns this command after receiving the query request.
Response Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| status | array | Yes | Status array for each input port |
status Array Element Description:
| Value | Description |
|---|---|
| 0 | Low level |
| 1 | High level |
| -1 | No such port |
Response Example
{
"status": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}6. ANALOG_OUT_SET - Set Analog Output
Command Code: 0x3607
The teach pendant sends this command when setting AOUT.
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| port | int | Yes | Port number, starting from 1 |
| value | float | Yes | Port voltage value (e.g., 1.33 means 1.33V) |
Request Example
{
"port": 1,
"value": 1.33
}7. ANALOG_OUT_INQUIRE - Query Analog Output Status
Command Code: 0x3608
The teach pendant sends this command when querying AOUT status.
Request Parameters
None
8. ANALOG_OUT_RESPOND - Query Analog Output Status Response
Command Code: 0x3609
The controller returns this command after receiving the query request.
Response Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| value | array | Yes | Value array for each analog output port |
value Array Element Description:
| Value | Description |
|---|---|
| 0 | Low level |
| 1 | High level |
| -1 | No such port |
Response Example
{
"value": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}9. ANALOG_IN_INQUIRE - Query Analog Input Status
Command Code: 0x360A
The teach pendant sends this command when querying AIN status.
Request Parameters
None
10. ANALOG_IN_RESPOND - Query Analog Input Status Response
Command Code: 0x360B
The controller returns this command after receiving the query request.
Response Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| value | array | Yes | Value array for each analog input port |
value Array Element Description:
| Value | Description |
|---|---|
| 0 | Low level |
| 1 | High level |
| -1 | No such port |
Response Example
{
"value": [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, -1, -1, -1, -1]
}11. FORCE_DIN_SET - Set Forced Digital Input
Command Code: 0x360C
The teach pendant sends this command when setting forced digital input.
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| port | int | Yes | Port number |
| enable | bool | Yes | Whether to enable forced input |
| status | int | Yes | Set port high/low level: 0=low level, 1=high level |
Request Example
{
"port": 1,
"enable": true,
"status": 0
}12. FORCE_DIN_INQUIRE - Query Forced Digital Input Status
Command Code: 0x360D
The teach pendant sends this command when querying forced input status.
Request Parameters
None
13. FORCE_DIN_RESPOND - Query Forced Digital Input Status Response
Command Code: 0x360E
The controller returns this command after receiving the query request.
Response Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| port | int | Yes | Port number |
| enable | bool | Yes | Whether to enable forced input |
| status | int | Yes | Set port high/low level: 0=low level, 1=high level |
Response Example
{
"port": 1,
"enable": true,
"status": 0
}14. FORCE_ANALOG_IN_SET - Set Forced Analog Input
Command Code: 0x3611
The teach pendant sends this command when setting forced analog input.
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| port | int | Yes | Port number |
| enable | bool | Yes | Whether to enable forced input |
| status | int | Yes | Set port analog value |
Request Example
{
"port": 1,
"enable": true,
"status": 0
}15. FORCE_ANALOG_IN_INQUIRE - Query Forced Analog Input Status
Command Code: 0x3612
The teach pendant sends this command when querying forced analog input status.
Request Parameters
None
16. FORCE_ANALOG_IN_RESPOND - Query Forced Analog Input Status Response
Command Code: 0x3613
The controller returns this command after receiving the query request.
Response Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| port | int | Yes | Port number |
| enable | bool | Yes | Whether to enable forced input |
| status | int | Yes | Set port analog value |
Response Example
{
"port": 1,
"enable": true,
"status": 0
}