Height Controller

---

0x91A1 Follow Start Command Request

Request Parameters

Parameter	Type	Required	Description
robot	int	Yes	Robot number
thirdLevelPerforationEnable	bool	No	Third-level perforation enable
secondPerforationEnable	bool	No	Second perforation enable
perforationMode	int	No	Perforation mode: 0-Direct perforation, 1-Segmented perforation, 2-Progressive perforation

Example

{
    "robot": 1,
    "thirdLevelPerforationEnable": false,
    "secondPerforationEnable": false,
    "perforationMode": 1
}

---

0x91A2 Follow Stop Command Request

Request Parameters

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Example

{
    "robot": 1
}

---

0x91A3 Follow Pause Command Request

Request Parameters

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Example

{
    "robot": 1
}

---

0x91A4 Height Controller Jog

Request Parameters

Parameter	Type	Required	Description
robot	int	Yes	Robot number
direction	int	Yes	Direction: 0-Down, 1-Up (send within 100ms)
speedLevel	int	No	Speed level: 0-Low, 1-Medium, 2-High

Example

{
    "robot": 1,
    "direction": 1,
    "speedLevel": 1
}

---

0x91AF Stop Jog

Request Parameters

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Example

{
    "robot": 1
}

---

OperationStatus Status Enumeration

enum class OperationStatus {
    STOP_                    = 0x00,  // Stop
    MENU_SETTING_            = 0x01,  // Menu setting
    MOTOR_CALIBRATION_       = 0x02,  // Motor calibration
    CAPACITANCE_CALIBRATION_ = 0x03,  // Capacitance calibration
    AUTO_TUNING_             = 0x04,  // Auto tuning
    HOME_                    = 0x05,  // Home return
    FOLLOW_                  = 0x06,  // Follow
    ASCEND_                  = 0x07,  // Ascend
    DESCEND_                 = 0x08,  // Descend
    EMERGENCY_TOP_           = 0x09,  // Emergency stop
    FROG_LEAP_               = 0x0A   // Frog leap
};

---

0x91A7 Request Height Controller Information

Request Parameters

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Example

{
    "robot": 1
}

---

0x91A8 Return Height Controller Information

Response Parameters

Parameter	Type	Description
status	int	OperationStatus status value
capacitance_value	int	Capacitance value
position	int	Position value
height	int	Height value
version	int	Version number
stop_coordinate	int	Stop coordinate
air_moving_board_delay	int	Pneumatic board delay
back_to_center_coordinate	int	Return-to-center coordinate
cutting_plate_delay	int	Cutting plate delay
perforation_plate_delay	int	Perforation plate delay
zaxis_coordinate	int	Z-axis coordinate

Example

{
    "status": 0,
    "capacitance_value": 0,
    "position": 0,
    "height": 0,
    "version": 0,
    "stop_coordinate": 1,
    "air_moving_board_delay": 1,
    "back_to_center_coordinate": 1,
    "cutting_plate_delay": 1,
    "perforation_plate_delay": 1,
    "zaxis_coordinate": 1
}

---

0x91A9 Set Follow Level

Request Parameters

Parameter	Type	Required	Description
cuttingTrackLevel	int	No	Cutting trajectory follow level, range (0, 30]
rAngleTrackLevel	int	No	R-angle follow level

Example

{
    "cuttingTrackLevel": 30,
    "rAngleTrackLevel": 0
}

---

0x91B0 Set Height

Request Parameters

Parameter	Type	Required	Description
cuttingHeight	int	No	Cutting height, unit μm, range 200-9999

Example

{
    "cuttingHeight": 0
}

---

0x91AA Capacitance Calibration

Request Parameters

Parameter	Type	Required	Description
type	int	No	Calibration type: 0-Motor calibration, 1-Capacitance calibration/bevel cutting calibration
isBevelCutting	bool	No	Whether bevel cutting calibration
calibrationProtection	bool	No	Calibration protection
zAxisAngle	int	No	Z-axis angle

Example

{
    "type": 0,
    "isBevelCutting": false,
    "calibrationProtection": false,
    "zAxisAngle": 0
}

---

0x91B0 CNC Send Real-time Z-axis Speed

Request Parameters

Parameter	Type	Required	Description
cncSpeed	int	No	Z-axis speed, unit: μm/ms

Example

{
    "cncSpeed": 100
}