Servo Status

1. Servo Connection Status

1.1 Query Servo Connection Status

Item	Value
Command Word	0x5042 SERVO_CONNECT_INQUIRE

{}

1.2 Response When Receiving Connection Status Query

Item	Value
Command Word	0x5043 SERVO_CONNECT_RESPOND
servoType	0

{
  "servoType": 0
}

2. Servo Status Settings and Acquisition

2.1 Upper Computer Changes Servo Status

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]
status	int	Servo status	0: Real servo, 1: Virtual servo, 2: No servo

Item	Value
Command Word	0x2001 SERVO_STATUS_SET

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

2.2 Upper Computer Queries Servo Status

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]

Item	Value
Command Word	0x2002 SERVO_STATUS_INQUIRE

{
  "robot": 1
}

2.3 Controller Replies Servo Status

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]
mode	int	Operation mode	0: Single robot mode, 1: Multi-robot mode
status	int	Servo status	0: Stopped, 1: Ready, 2: Error, 3: Running

Item	Value
Command Word	0x2003 SERVO_STATUS_RESPOND

{
  "mode": 0,
  "robot": 1,
  "status": 0
}

3. Operation Mode Status Settings and Acquisition

Operation mode description:

Mode Value	Name	Description
0	Teach Mode (Teach)	-
1	Remote Mode (Circle)	-
2	Run Mode (Repeat)	-

3.1 Upper Computer Sets Current Controller Operation Mode

Parameter	Type	Description	Value Range
mode	int	Operation mode	0: Teach mode, 1: Remote mode, 2: Run mode

Item	Value
Command Word	0x2101 OPERATION_MODE_SET

{
  "mode": 0
}

3.2 Upper Computer Queries Operation Mode

Item	Value
Command Word	0x2102 OPERATION_MODE_INQUIRE

{}

3.3 Controller Replies Operation Mode

Parameter	Type	Description
mode	int	Operation mode

Item	Value
Command Word	0x2103 OPERATION_MODE_RESPOND

{
  "mode": 0
}

3.4 Upper Computer Changes Teach Operation Mode

Parameter	Type	Description	Value Range
teachType	int	Teach type	0: Jog (single axis), 1: Drag teaching, 2: Jog (linked)

Item	Value
Command Word	0x2104 TEACHTYPE_SET

{
  "teachType": 0
}

3.5 Upper Computer Queries Teach Type

Item	Value
Command Word	0x2105 TEACHTYPE_INQUIRE

{}

3.6 Controller Replies Teach Type

Parameter	Type	Description
teachType	int	Teach type

Item	Value
Command Word	0x2106 TEACHTYPE_RESPOND

{
  "teachType": 0
}

4. Coordinate Mode Status Settings and Acquisition

Coordinate mode description:

Mode Value	Name	Description
0	Joint (Joint)	-
1	Cartesian (Cart)	-
2	Tool (Tool)	-
3	User (User)	-

4.1 Upper Computer Changes Current Coordinate Mode

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]
coord	int	Coordinate mode	0: Joint, 1: Cartesian, 2: Tool, 3: User

Item	Value
Command Word	0x2201 COORD_MODE_SET

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

4.2 Upper Computer Queries Coordinate Mode

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]

Item	Value
Command Word	0x2202 COORD_MODE_INQUIRE

{
  "robot": 1
}

4.3 Controller Replies Coordinate Mode

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]
coord	int	Coordinate mode	0: Joint, 1: Cartesian, 2: Tool, 3: User

Item	Value
Command Word	0x2203 COORD_MODE_RESPOND

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

5. Servo Power On/Off Status Settings and Acquisition

5.1 Teach Pendant Changes Current Power On/Off Status

Parameter	Type	Description	Value Range
deadman	int	Power on/off status	0: DEADMAN power off, 1: DEADMAN power on

Item	Value
Command Word	0x2301 DEADMAN_STATUS_SET

{
  "deadman": 0
}

5.2 Teach Pendant Queries Power On/Off Status

Item	Value
Command Word	0x2302 DEADMAN_STATUS_INQUIRE

{}

5.3 Controller Replies Power On/Off Status

Parameter	Type	Description
deadman	int	Power on/off status

Item	Value
Command Word	0x2303 DEADMAN_STATUS_RESPOND

{
  "deadman": 0
}

5.4 Upper Computer Sets Power On/Off Mode

Parameter	Type	Description	Value Range
deadmanMode	int	Trigger mode	0: Software trigger, 1: Hardware trigger
deadmanPortOne	int	Power-on enable port IO number	Each port can be assigned up to 16 IO numbers
deadmanPortTwo	int	Power-off enable port IO number	-

Item	Value
Command Word	0x2304 DEADMAN_MODE_SET

{
  "deadmanMode": 1,
  "deadmanPortOne": 9,
  "deadmanPortTwo": 0
}

5.5 Upper Computer Queries Power On/Off Mode

Item	Value
Command Word	0x2305 DEADMAN_MODE_INQUIRE

{}

5.6 Controller Replies Power On/Off Mode

Parameter	Type	Description	Value Range
deadmanMode	int	Trigger mode	0: Software trigger, 1: Hardware trigger
deadmanPortOne	int	Power-on enable port IO number	Each port can be assigned up to 16 IO numbers
deadmanPortTwo	int	Power-off enable port IO number	-

Item	Value
Command Word	0x2306 DEADMAN_MODE_RESPOND

{
  "deadmanMode": 1,
  "deadmanPortOne": 9,
  "deadmanPortTwo": 0
}

5.7 Servo Power-On Enable (Not available on teach pendant)

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]

Item	Value
Command Word	0x2311 MAN_BEG_OPERATION

{
  "robot": 1
}

5.8 Robot Emergency Stop

Note: The original 2314 was servo power-off, which does not exist in the program

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]

Item	Value
Command Word	0x2314 MAN_END_OPERATION

{
  "robot": 1
}

6. Clear Servo Errors

6.1 Teach Pendant Clears Servo Errors

Parameter	Type	Description	Value Range
robot	int	Select robot	[1, 4]

Item	Value
Command Word	0x3201 FAULT_RESET

{
  "robot": 1
}

6.2 Return Clear Result After Clearing Servo Errors

Parameter	Type	Description
robot	int	Select robot
clearErrflag	bool	true: Servo error cleared successfully, false: Clear failed

Item	Value
Command Word	0x3202 FAULT_RESET_RESULT

{
  "robot": 1,
  "clearErrflag": true
}