iNexBot Open Platform

English

中文
한국어

English

中文
한국어

Appearance

Palletizing Process ​

Full Palletizing ​

Set Gripper Parameters ​

Teach pendant Set Gripper Parameters dialog for the palletizing process showing gripper count and tool-number array

0x4201 PAL_GRIPPER_PARM_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
gripperNumintNoNumber of grippers, range 1~4
gripperarrayNoGripper tool number array, range 1~9
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "gripperNum": 2,
        "gripper": [1, 3, 4, 0]
    }
}

Query Gripper Parameters ​

0x4202 PAL_GRIPPER_PARM_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Gripper Parameters ​

0x4203 PAL_GRIPPER_PARM_RESPOND

ParameterTypeDescription
robotintRobot number
craftIDintProcess number
gripperNumintNumber of grippers, range 1~4
gripperarrayGripper tool number array, range 1~9
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "gripperNum": 2,
        "gripper": [1, 3, 4, 0]
    }
}

Set Pallet Parameters ​

Teach pendant Set Pallet Parameters panel where the user coordinate number is selected for the pallet

0x4204 PAL_PALLET_PARM_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
userNumintYesUser number
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "userNum": 1
    }
}

Query Pallet Parameters ​

0x4205 PAL_PALLET_PARM_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Pallet Parameters ​

0x4206 PAL_PALLET_PARM_RESPOND

ParameterTypeDescription
robotintRobot number
craftIDintProcess number
userNumintUser number
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "userNum": 1
    }
}

Set Position Parameters ​

Teach pendant Set Position Parameters form for the entry point, auxiliary point, and real workpiece point

0x4207 PAL_POS_PARM_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
enterPosarrayYesEntry point, 6 double values
floorNumintNoMarker layer number
shiftPosarrayNoAuxiliary point, 6 double values
realPosarrayNoWorkpiece point, 6 double values
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "enterPos": [0, 1.1, 222, 3.14159, 0, 0.008],
        "floorNum": 1,
        "shiftPos": [0, 1.1, 222, 3.14159, 0, 0.008],
        "realPos": [0, 1.1, 222, 3.14159, 0, 0.008]
    }
}

Query Position Parameters ​

0x4208 PAL_POS_PARM_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Position Parameters ​

0x4209 PAL_POS_PARM_RESPOND

Return data same as 0x4207.

Set Workpiece Parameters ​

Teach pendant Set Workpiece Parameters panel with workpiece length, width, height, and X/Y gaps

0x420A PAL_WORKPIECE_PARM_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
workpieceLengthdoubleNoWorkpiece length
workpieceWidthdoubleNoWorkpiece width
workpieceHeightdoubleNoWorkpiece height
workpieceGapXdoubleNoX-direction gap
workpieceGapYdoubleNoY-direction gap
json
{
    "robot": 1,
    "craftID": 2,
    "pallet": {
        "workpieceLength": 1,
        "workpieceWidth": 2,
        "workpieceHeight": 3,
        "workpieceGapX": 4,
        "workpieceGapY": 5
    }
}

Query Workpiece Parameters ​

0x420B PAL_WORKPIECE_PARM_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Workpiece Parameters ​

0x420C PAL_WORKPIECE_PARM_RESPOND

Return data same as 0x420A.

Set Approach Parameters (2207 teach pendant does not have this function) ​

0x420D PAL_APPRO_PARM_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
workpieceApproEnableboolNoEnable approach
workpieceApproModeintNoApproach mode: 0-Descend then approach, 1-Approach then descend
workpieceApproLenXdoubleNoX-direction approach length
workpieceApproLenYdoubleNoY-direction approach length
workpieceApproLenZdoubleNoZ-direction approach length
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "workpieceApproEnable": false,
        "workpieceApproMode": 0,
        "workpieceApproLenX": 0,
        "workpieceApproLenY": 0,
        "workpieceApproLenZ": 0
    }
}

Query Approach Parameters ​

0x420E PAL_APPRO_PARM_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Approach Parameters ​

0x420F PAL_APPRO_PARM_RESPOND

Return data same as 0x420D.

Set Overlap Mode Parameters ​

Teach pendant Set Overlap Mode Parameters panel with layer count, overlap type, height compensation, and auto-alignment options

0x4210 PAL_OVERLAP_PARM_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
floorSumintNoNumber of layers
overlapTypeintNoOverlap type: 0-Same, 1-Alternating, 2-Custom
layHeightOffsetdoubleNoPlace point height compensation
fixedLayHeightboolNoFixed place point height
fixedSupHeightboolNoFixed auxiliary point height
columnLayboolNoVertical direction arrangement
floorAutoJustifiedboolNoLayer auto alignment
poseAutorotationboolNoPose auto rotation
fixedEnterPointboolNoFixed entry point position
graphicNumarrayNoGraphic number
heightRevisearrayNoHeight correction
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "floorSum": 1,
        "overlapType": 0,
        "layHeightOffset": 0.0,
        "fixedLayHeight": false,
        "fixedSupHeight": false,
        "columnLay": false,
        "floorAutoJustified": false,
        "poseAutorotation": false,
        "fixedEnterPoint": false,
        "graphicNum": [1, 2, 1, 2],
        "heightRevise": [1.1, -2.2]
    }
}

Query Overlap Mode Parameters ​

0x4211 PAL_OVERLAP_PARM_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Overlap Mode Parameters ​

0x4212 PAL_OVERLAP_PARM_RESPOND

Return data same as 0x4210.

Set Plane Mode Parameters ​

Teach pendant Set Plane Mode Parameters form listing the row-column, interlocking, spiral, five-pattern, and custom graphic modes

0x4213 PAL_PLANE_PARM_SET

Row-Column Mode ​

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
graphicintYesGraphic number
graphicTypeintYesGraphic type: 0-Row-column, 1-Interlocking, 2-Spiral, 3-Five-pattern, 4-Custom
autoCalculateboolNoAuto calculate
numXdoubleNoX-direction count
numYdoubleNoY-direction count
rotationAngleSingledoubleNoWorkpiece rotation angle
rotationAngleWholedoubleNoOverall rotation angle
transLenXdoubleNoX translation compensation
transLenYdoubleNoY translation compensation
json
{
    "craftID": 2,
    "graphic": 1,
    "pallet": {
        "graphicType": 0,
        "ranks": {
            "autoCalculate": true,
            "numX": 1.0,
            "numY": 1.0,
            "rotationAngleSingle": 180.0,
            "rotationAngleWhole": 90.0
        },
        "transLenX": 2.0,
        "transLenY": 3.0
    },
    "robot": 1
}

Interlocking Mode ​

json
{
    "craftID": 2,
    "graphic": 1,
    "pallet": {
        "graphicType": 1,
        "intertwining": {
            "numX": 3.0,
            "numY": 3.0,
            "rotationAngleSingle": -90.0,
            "rotationAngleWhole": 90.0
        },
        "transLenX": 0.0,
        "transLenY": 0.0
    },
    "robot": 1
}

Spiral Mode ​

json
{
    "craftID": 2,
    "graphic": 1,
    "pallet": {
        "gearType": {
            "rotationAngleSingle": -90.0,
            "rotationAngleWhole": 180.0
        },
        "graphicType": 2,
        "transLenX": 0.0,
        "transLenY": 0.0
    },
    "robot": 1
}

Five-Pattern Mode ​

json
{
    "craftID": 2,
    "graphic": 1,
    "pallet": {
        "graphicType": 3,
        "transLenX": 0.0,
        "transLenY": 0.0,
        "wideType": {
            "A_C_columns": 5.0,
            "A_rows": 1.0,
            "B_columns": 3.0,
            "B_rows": 2.0,
            "C_rows": 4.0,
            "rotationAngleSingle": 180.0,
            "rotationAngleWhole": 90.0
        }
    },
    "robot": 1
}

Custom Mode ​

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
graphicintYesGraphic number
graphicTypeintYesGraphic type (4-Custom)
transLenXdoubleNoX translation compensation
transLenYdoubleNoY translation compensation
countintYesLayer workpiece count
sumintYesTotal workpieces per layer
startintYesStart number
eachVecarrayYesPer-layer data
json
{
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "custom": {
            "count": 2,
            "eachVec": [
                {
                    "X": 1.0,
                    "Y": 2.0,
                    "dir": 0,
                    "h": 4.0,
                    "t": 3.0
                },
                {
                    "X": 5.0,
                    "Y": 6.0,
                    "dir": 0,
                    "h": 8.0,
                    "t": 7.0
                }
            ],
            "start": 1,
            "sum": 2
        },
        "graphicType": 4,
        "transLenX": 11.0,
        "transLenY": 22.0
    },
    "robot": 1
}

Query Plane Mode Parameters ​

0x4214 PAL_PLANE_PARM_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
graphicintYesGraphic number
json
{
    "robot": 1,
    "craftID": 1,
    "graphic": 1
}

Return Plane Mode Parameters ​

0x4215 PAL_PLANE_PARM_RESPOND

Return data same as 0x4213.

Request Conversion to Plane Mode Custom Template ​

0x4216 PAL_PLANE_CUSTOM_TRANS_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
graphicintYesGraphic number
json
{
    "robot": 1,
    "craftID": 1,
    "graphic": 1
}

Return Converted Plane Mode Custom Template Parameters ​

0x4217 PAL_PLANE_CUSTOM_TRANS_RESPOND

ParameterTypeDescription
robotintRobot number
craftIDintProcess number
graphicintGraphic number
graphicTypeintGraphic type (only 3 here)
transLenXdoubleX translation compensation
transLenYdoubleY translation compensation
autoTransLenXdoubleX auto translation distance
autoTransLenYdoubleY auto translation distance
sumintTotal workpieces
startintStart number
countintCurrent layer workpiece count
eachVecarrayWorkpiece position array
json
{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "graphicType": 3,
        "transLenX": 2.2,
        "transLenY": -3.3,
        "autoTransLenX": 4.4,
        "autoTransLenY": 5.5,
        "custom": {
            "sum": 20,
            "start": 1,
            "count": 10,
            "eachVec": [
                {"X": 0, "Y": 0, "t": 0, "dir": 0, "h": 0},
                {"X": 0, "Y": 0, "t": 0, "dir": 0, "h": 0},
                {"X": 0, "Y": 0, "t": 0, "dir": 0, "h": 0}
            ]
        }
    }
}

Request Plane Mode Preview ​

0x4218 PAL_PLANE_PREVIEW_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
graphicintYesGraphic number
json
{
    "robot": 1,
    "craftID": 1,
    "graphic": 1
}

Return Plane Mode Preview Parameters ​

0x4219 PAL_PLANE_PREVIEW_RESPOND

ParameterTypeDescription
robotintRobot number
craftIDintProcess number
graphicintGraphic number
workpieceLengthdoubleWorkpiece length
workpieceWidthdoubleWorkpiece width
sumintTotal workpieces
startintStart number
countintCurrent layer workpiece count
eachVecarrayWorkpiece position array
json
{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "workpieceLength": 1,
        "workpieceWidth": 1,
        "sum": 20,
        "start": 1,
        "count": 10,
        "eachVec": [
            {"X": 0, "Y": 0, "t": 0},
            {"X": 0, "Y": 0, "t": 0},
            {"X": 0, "Y": 0, "t": 0}
        ]
    }
}

Query Full Palletizing Plane Mode Auto Calculate Result ​

0x422A PAL_AUTO_CALCULATE_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Auto Calculate Result ​

0x422B PAL_AUTO_CALCULATE_RESPOND

ParameterTypeDescription
numXdoubleX-direction count
numYdoubleY-direction count
json
{
    "pallet": {
        "ranks": {
            "numX": 0,
            "numY": 0
        }
    }
}

Set Palletizing Status ​

Teach pendant Set Palletizing Status form for current layer number and palletized workpiece count

0x421A PAL_STATE_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
curLayerNumintNoCurrent layer number
curLayerPalletedWpNumintNoCurrent layer palletized workpiece count
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "curLayerNum": 1,
        "curLayerPalletedWpNum": 5
    }
}

Query Palletizing Status ​

0x421B PAL_STATE_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Palletizing Status ​

0x421C PAL_STATE_RESPOND

ParameterTypeDescription
robotintRobot number
craftIDintProcess number
totalWpNumintTotal workpieces
totalLayerNumintTotal layers
curPalletedWpSumintCurrent total palletized workpieces
curLayerNumintCurrent layer number
curLayerPalletedWpNumintCurrent layer palletized workpiece count
curLayerWpSumintCurrent layer total workpieces
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "totalWpNum": 20,
        "totalLayerNum": 2,
        "curPalletedWpSum": 5,
        "curLayerNum": 1,
        "curLayerPalletedWpNum": 5,
        "curLayerWpSum": 10
    }
}

Copy Palletizing Parameters ​

Teach pendant Copy Palletizing Parameters dialog for cloning parameters from a source process to a target process

0x421D PAL_PARM_COPY

ParameterTypeRequiredDescription
robotintYesRobot number
craftID_sourceintYesSource process number
craftID_targetintYesTarget process number
json
{
    "robot": 1,
    "craftID_source": 1,
    "craftID_target": 2
}

Clear Palletizing Parameters ​

0x421E PAL_PARM_CLEAR

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Copy Layer Graphic Parameters ​

Teach pendant Copy Layer Graphic Parameters dialog for copying a graphic between source and target graphic numbers

0x421F PAL_GRAPHIC_COPY

ParameterTypeRequiredDescription
robotintYesRobot number
craftID_sourceintYesSource process number
craftID_targetintYesTarget process number
graphic_sourceintYesSource graphic number
graphic_targetintYesTarget graphic number
json
{
    "craftID_source": 1,
    "craftID_target": 1,
    "graphic_source": 1,
    "graphic_target": 2,
    "robot": 1
}

Switch Palletizing Type ​

Teach pendant Switch Palletizing Type selector choosing between Simple and Full palletizing

0x4221 PAL_SIMPLE_SWTICH

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
usePalletTypeintYesPalletizing type: 0-Simple, 1-Full, 2-Undefined
json
{
    "robot": 1,
    "craftID": 1,
    "usePalletType": 0
}

Query Current Palletizing Type ​

0x4222 PAL_IS_SIMPLE_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Palletizing Type ​

0x4223 PAL_IS_SIMPLE_RESPOND

Return data same as 0x4221.

Simple Palletizing ​

Teach pendant Simple Palletizing configuration panel showing the start, column, row, height, entry, and auxiliary points used to define the pallet

Set Simple Palletizing Position ​

0x4224 PAL_SIMPLE_POS_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
OarrayYesWorkpiece start point, 6 double values
XarrayYesColumn point, 6 double values
YarrayYesRow point, 6 double values
ZarrayYesHeight point, 6 double values
acrossCornerarrayNoDiagonal point, 6 double values
enterarrayYesEntry point, 6 double values
numXintYesRow count
numYintYesColumn count
numZintYesLayer count
shiftarrayNoAuxiliary point, 6 double values
useAcrossCornerboolNoUse diagonal end
json
{
    "O": [456.905, -53.268, 637.0, 3.142, 0.0, 0.116],
    "X": [456.905, -53.268, 637.0, 3.142, 0.0, 0.116],
    "Y": [456.905, -53.268, 637.0, 3.142, 0.0, 0.116],
    "Z": [456.905, -53.268, 637.0, 3.142, 0.0, 0.116],
    "acrossCorner": [456.905, -53.268, 637.0, 3.142, 0.0, 0.116],
    "craftID": 6,
    "enter": [456.905, -53.268, 637.0, 3.142, 0.0, 0.116],
    "numX": 2,
    "numY": 1,
    "numZ": 3,
    "robot": 1,
    "shift": [456.905, -53.268, 637.0, 3.142, 0.0, 0.116],
    "useAcrossCorner": true
}

Query Simple Palletizing Position Settings ​

0x4225 PAL_SIMPLE_POS_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Simple Palletizing Position ​

0x4226 PAL_SIMPLE_POS_RESPOND

Return data same as 0x4224.

Set Simple Palletizing Gripper Parameters ​

0x4227 PAL_SIMPLE_GRIPPER_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
gripperNumintNoNumber of grippers, range 1~4
gripperarrayNoGripper tool number array, range 1~9
json
{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "gripperNum": 2,
        "gripper": [1, 3, 4, 0]
    }
}

Query Simple Palletizing Gripper Parameters ​

0x4228 PAL_SIMPLE_GRIPPER_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Return Simple Palletizing Gripper Parameters ​

0x4229 PAL_SIMPLE_GRIPPER_RESPOND

Return data same as 0x4227.

Palletizing Reset ​

Teach pendant Palletizing Reset dialog to clear parameters for a robot and craft number

0x422C PAR_PARM_RESET

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
json
{
    "robot": 1,
    "craftID": 1
}

Palletizing Custom Mode Drag and Rotate Preview ​

0x4232 PAL_PLANE_CUSTOM_ROTATE_PREVIEW_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftIDintYesProcess number
graphicintYesGraphic number
countintYesWorkpiece count
startintYesStart number
sumintYesTotal count
eachVecarrayYesPosition array
rotationAngleWholedoubleNoOverall rotation angle
transLenXdoubleNoX translation compensation
transLenYdoubleNoY translation compensation
json
{
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "count": 2,
        "eachVec": [
            {"X": 0.0, "Y": 0.0, "t": 0.0},
            {"X": 0.0, "Y": 0.0, "t": 0.0}
        ],
        "start": 1,
        "sum": 2
    },
    "robot": 1,
    "rotationAngleWhole": 0,
    "transLenX": 0.0,
    "transLenY": 0.0
}

Return Drag Rotate Preview Result ​

0x4233 PAL_PLANE_CUSTOM_ROTATE_PREVIEW_RESPOND

json
{
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "count": 2,
        "eachVec": [
            {"X": 0.0, "Y": 0.0, "t": 0.0},
            {"X": 0.0, "Y": 0.0, "t": 0.0}
        ],
        "start": 1,
        "sum": 2
    },
    "robot": 1
}

Point Debug Interface ​

Get All Workpiece Data ​

0x4242 PAL_POINTDEBUG_FLOORDATA_INQUIRE

ParameterTypeRequiredDescription
robotintYesRobot number
craftintYesProcess number
layerintYesLayer number
clearintNo1-Clear cache, 0-Do not clear
json
{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "clear": 0
}

Return All Workpiece Data ​

0x4243 PAL_POINTDEBUG_FLOORDATA_RESPOND

ParameterTypeDescription
robotintRobot number
craftintProcess number
layerintLayer number
sumLayerintTotal layers
LdoubleWorkpiece length
WdoubleWorkpiece width
overintOver-limit status: 0-No over-limit, 1-Entry point over-limit, 2-Auxiliary point over-limit, 3-Workpiece point over-limit
overLayerintOver-limit layer number
overNumintOver-limit workpiece number
sumintLayer total workpieces
countintCurrent layer workpiece count
startintStart number
eachVecarrayWorkpiece array
json
{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "sumLayer": 10,
    "length": {
        "L": 10,
        "W": 10
    },
    "overLimit": {
        "over": 1,
        "layer": 1,
        "num": 2
    },
    "pallet": {
        "sum": 25,
        "count": 10,
        "start": 1,
        "eachVec": [
            {"X": 0, "Y": 0, "Z": 0, "t": 0, "over": 0},
            {"X": 0, "Y": 0, "Z": 0, "t": 0, "over": 0}
        ]
    }
}

Teach pendant Point Debug interface displaying the per-layer workpiece data returned by 0x4242 with length, width, over-limit info, and positions

Overall Offset ​

0x4244 PAL_POINTDEBUG_FLOORWHOLETRANS

ParameterTypeRequiredDescription
robotintYesRobot number
craftintYesProcess number
layerintYesLayer number
rotationAngledoubleNoOffset angle
transLenXdoubleNoX offset
transLenYdoubleNoY offset
transLenZdoubleNoZ offset
json
{
    "craft": 1,
    "layer": 1,
    "robot": 1,
    "rotationAngle": 95.0,
    "transLenX": 1.0,
    "transLenY": 2.0,
    "transLenZ": 24.0
}

Apply to Same Layer ​

0x4245 PAL_POINTDEBUG_APPLYSAMEFLOOR

ParameterTypeRequiredDescription
robotintYesRobot number
craftintYesProcess number
layerintYesLayer number
json
{
    "craft": 1,
    "layer": 2,
    "robot": 1
}

Modify Single Workpiece Position ​

0x4247 PAL_POINTDEBUG_ONEPOS_SET

ParameterTypeRequiredDescription
robotintYesRobot number
craftintYesProcess number
layerintYesLayer number
numintYesWorkpiece number
modeintYesMode: 0-Directly set xyz, 1-Use current robot position
XdoubleNoWorkpiece X coordinate
YdoubleNoWorkpiece Y coordinate
ZdoubleNoWorkpiece Z coordinate
angledoubleNoWorkpiece angle
json
{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "num": 1,
    "mode": 0,
    "X": 0.1,
    "Y": 0.1,
    "Z": 0.1,
    "angle": 0
}

Get Single Workpiece Position ​

0x4248 PAL_POINTDEBUG_ONEPOS_INQUIRE

Must use 0x4242 first before calling 0x4248.

ParameterTypeRequiredDescription
robotintYesRobot number
craftintYesProcess number
layerintYesLayer number
numintYesWorkpiece number
json
{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "num": 1
}

Return Single Workpiece Position ​

0x4249 PAL_POINTDEBUG_ONEPOS_RESPOND

ParameterTypeDescription
robotintRobot number
craftintProcess number
layerintLayer number
numintCurrent workpiece number
XdoubleWorkpiece X coordinate
YdoubleWorkpiece Y coordinate
ZdoubleWorkpiece Z coordinate
tdoubleWorkpiece angle
overintOver-limit status
overLimitobjectOver-limit details
json
{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "num": 1,
    "X": 0.1,
    "Y": 0.1,
    "Z": 0.1,
    "t": 0,
    "over": 0,
    "overLimit": {
        "over": 1,
        "layer": 1,
        "num": 2
    }
}

Save Point Debug Data to File ​

0x424A PAL_POINTDEBUG_SAVEBUFFERDATA

ParameterTypeRequiredDescription
robotintYesRobot number
craftintYesProcess number
json
{
    "robot": 1,
    "craft": 1
}

Move to Workpiece Position ​

0x424D PAL_POINTDEBUG_MOVETOPOS

ParameterTypeRequiredDescription
robotintYesRobot number
craftintYesProcess number
layerintYesLayer number
numintYesWorkpiece number
typeintYesPoint type: 0-Entry point, 1-Auxiliary point, 2-Workpiece point
json
{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "num": 1,
    "type": 0
}