Spraying Process

1 Analog Settings

1.1 Set

Message ID: 0x4701 SPRAY_ANALOGGROUP_SET

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Analog group number
flow	float	Yes	Flow
sector	float	Yes	Fan
atom	float	Yes	Atomization
note	string	No	Notes

Request Example:

json

{
  "robot": 1,
  "ID": 1,
  "flow": 1.1,
  "sector": 2.2,
  "atom": 3.3,
  "note": ""
}

1.2 Query

Message ID: 0x4702 SPRAY_ANALOGROUP_INQUIRE

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Analog group number

Request Example:

json

{
  "robot": 1,
  "ID": 1
}

1.3 Return

Message ID: 0x4703 SPRAY_ANALOGROUP_RESPOND

Return Parameters: Same as set (0x4701)

2 Digital Settings

2.1 Digital Parameter Setting

Message ID: 0x4704 SPRAY_DIGIT_PARM_SET

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Parameter group number
signalPort	int[]	Yes	Signal output port
signalValue	int[]	Yes	Port value
colorPort	int[]	No	Color port
colorValue	int[]	No	Color value
colorRGB	string[]	No	RGB color value

signalPort Port Definition:

Index	Port Function
1	Gun open
2	Flow
3	Fan
4	Atomization
5	Air purge
6	Cleaning solvent

Request Example:

json

{
  "robot": 1,
  "ID": 1,
  "signalPort": [1, 2, 3, 4, 5, 6],
  "signalValue": [1, 1, 1, 1, 1, 1],
  "colorPort": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
  "colorValue": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
  "colorRGB": ["66CCFF", "", "", "", "", "", "", "", "", ""]
}

2.2 Query

Message ID: 0x4705 SPRAY_DIGIT_PARM_INQUIRE

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Parameter group number

Request Example:

json

{
  "robot": 1,
  "ID": 1
}

2.3 Return

Message ID: 0x4706 SPRAY_DIGIT_PARM_RESPOND

Return Parameters: Same as set (0x4704)

2.4 Sequence Setting

Message ID: 0x4707 SPRAY_SEQUENTIAL_SET

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Sequence group number
openGun	int[]	Yes	Gun open sequence
change	int[]	Yes	Material change sequence

Request Example:

json

{
  "robot": 1,
  "ID": 1,
  "openGun": [1, 2, 3, 4, 5, 6, 7, 8],
  "change": [1, 2, 3, 4, 5, 6, 7]
}

2.5 Query

Message ID: 0x4708 SPRAY_SEQUENTIAL_INQUIRE

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Sequence group number

Request Example:

json

{
  "robot": 1,
  "ID": 1
}

2.6 Return

Message ID: 0x4709 SPRAY_SEQUENTIAL_RESPOND

Return Parameters: Same as set (0x4707)

3 Trajectory Parameter Setting

3.1 Set

Message ID: 0x470A SPRAY_TRAJECTORY_SET

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Trajectory group number
type	int	Yes	Type: 0-Planar, 1-3D, 2-Custom
kind	int	Yes	Kind, starting from 1
layer	int	Yes	Number of layers
append	int	Yes	Append count
closeGunInTransition	bool	Yes	No spray at transitions
pos	float[][]	Conditional	Custom trajectory points (can be omitted when type=2)
custom	object	Conditional	Custom trajectory parameters (can be omitted when type=0/1)

custom Parameter Description:

Parameter Name	Type	Description
segmentSum	int	Number of trajectory segments
segmentType	int[]	Segment type: 0-Line, 1-Arc
startPos	float[]	Start point (radians)
startPosDeg	float[]	Start point (degrees)
middlePos	float[][][]	Middle trajectory points, 3 segments, max 2 points each
middlePosDeg	float[][][]	Middle trajectory points (degrees)
endPos	float[]	End point (radians)
endPosDeg	float[]	End point (degrees)

Request Example:

json

{
  "robot": 1,
  "ID": 1,
  "type": 1,
  "kind": 1,
  "layer": 1,
  "append": 0,
  "closeGunInTransition": false,
  "pos": [
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6]
  ],
  "custom": {
    "segmentSum": 2,
    "segmentType": [0, 1, 0],
    "startPos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "startPosDeg": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "middlePos": [
      [[1.1, 2.2, 3.3, 4.4, 5.5, 6.6], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
      [[1.1, 2.2, 3.3, 4.4, 5.5, 6.6], [1.1, 2.2, 3.3, 4.4, 5.5, 6.6]],
      [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]
    ],
    "middlePosDeg": "Same as above, in degrees",
    "endPos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "endPosDeg": "Same as above, in degrees"
  }
}

3.2 Query

Message ID: 0x470B SPRAY_TRAJECTORY_INQUIRE

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
ID	int	Yes	Trajectory group number

Request Example:

json

{
  "robot": 1,
  "ID": 1
}

3.3 Return

Message ID: 0x470C SPRAY_TRAJECTORY_RESPOND

Return Parameters:

Parameter Name	Type	Description
robot	int	Robot number
ID	int	Trajectory group number
type	int	Type: 0-Planar, 1-3D, 2-Custom
kind	int	Kind
layer	int	Number of layers
append	int	Append count
closeGunInTransition	bool	No spray at transitions
pos	float[][]	Trajectory points
custom	object	Custom trajectory parameters

Return Example:

json

{
  "robot": 1,
  "ID": 1,
  "type": 1,
  "kind": 1,
  "layer": 1,
  "append": 0,
  "closeGunInTransition": false,
  "pos": [
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6]
  ],
  "custom": {
    "segmentSum": 2,
    "segmentType": [0, 1, 0],
    "startPos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "startPosDeg": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "middlePos": [
      [[1.1, 2.2, 3.3, 4.4, 5.5, 6.6], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
      [[1.1, 2.2, 3.3, 4.4, 5.5, 6.6], [1.1, 2.2, 3.3, 4.4, 5.5, 6.6]],
      [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]
    ],
    "middlePosDeg": [
      [[1.1, 2.2, 3.3, 4.4, 5.5, 6.6], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
      [[1.1, 2.2, 3.3, 4.4, 5.5, 6.6], [1.1, 2.2, 3.3, 4.4, 5.5, 6.6]],
      [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]
    ],
    "endPos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "endPosDeg": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6]
  }
}

4 Manual Operation

4.1 Selection and Button Setting

Message ID: 0x4711 SPRAY_HAND_OPERATION_SET

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
type	int	Yes	Operation type
value	int	Yes	Value

type Type Definition:

type Value	Description
1	Spray gun
2	Sequence group number
3	Dust removal
4	Spray painting
5	Cleaning
6	Oil volume test
7	Color switch

Request Example:

json

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

4.2 Query

Message ID: 0x4712 SPRAY_HAND_OPERATION_INQUIRE

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

json

{
  "robot": 1
}

4.3 Return

Message ID: 0x4713 SPRAY_HAND_OPERATION_RESPOND

Return Parameters:

Parameter Name	Type	Description
robot	int	Robot number
gun	int	Spray gun number
sequential	int	Sequence group number
dust	int	Dust removal enable
paint	int	Spray painting enable
oilTest	int	Oil volume test
color	int	Color switch

Return Example:

json

{
  "robot": 1,
  "gun": 1,
  "sequential": 1,
  "dust": 0,
  "paint": 0,
  "oilTest": 0,
  "color": 1
}

4.4 Analog Setting

Message ID: 0x4714 SPRAY_CUR_ANALOG_SET

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
anaID	int	Yes	Analog group number
flow	float	Yes	Flow
sector	float	Yes	Fan
atom	float	Yes	Atomization

Request Example:

json

{
  "robot": 1,
  "anaID": 1,
  "flow": 1.1,
  "sector": 2.2,
  "atom": 3.3
}

4.5 Query

Message ID: 0x4715 SPRAY_CUR_ANALOG_INQUIRE

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
anaID	int	Yes	Analog group number: -1 query group number, 0-99 switch group number

Request Example:

json

{
  "robot": 1,
  "anaID": -1
}

4.6 Return

Message ID: 0x4716 SPRAY_CUR_ANALOG_RESPOND

Return Parameters:

Parameter Name	Type	Description
robot	int	Robot number
anaID	int	Analog group number
flow	float	Flow
sector	float	Fan
atom	float	Atomization

Return Example:

json

{
  "robot": 1,
  "anaID": 1,
  "flow": 1.1,
  "sector": 2.2,
  "atom": 3.3
}

4.7 Oil Volume Test Time Setting

Message ID: 0x4717 SPRAY_CUR_OILTIME_SET

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
oilTime	float	Yes	Oil volume test time (seconds)

Request Example:

json

{
  "robot": 1,
  "oilTime": 0.5
}

4.8 Query

Message ID: 0x4718 SPRAY_CUR_OILTIME_INQUIRE

Parameter Description:

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

json

{
  "robot": 1
}

4.9 Return

Message ID: 0x4719 SPRAY_CUR_OILTIME_RESPOND

Return Parameters:

Parameter Name	Type	Description
robot	int	Robot number
oilTime	float	Oil volume test time (seconds)

Return Example:

json

{
  "robot": 1,
  "oilTime": 0.5
}

01.Custom-Instructions

01.Teach-Pendant-Impl

02.Controller-Impl

01.Getting-Started

03.API-Examples

01.Basic

02.Advanced

01.Getting-Started

02.API-Examples

01.Getting-Started

02.API-Examples

01.Basic

02.Advanced

02.Port-6000-Communication

01.Motion-Control

02.State-Control

03.Processes

06.Laser-Cutting

04.Job-Files

05.External-Control

06.Others

01.System

02.Robot

01.Parameters

03.Program

02.Instruction-CRUD

04.Peripherals-Communication

05.Processes

Spraying Process ​

1 Analog Settings ​

1.1 Set ​

1.2 Query ​

1.3 Return ​

2 Digital Settings ​

2.1 Digital Parameter Setting ​

2.2 Query ​

2.3 Return ​

2.4 Sequence Setting ​

2.5 Query ​

2.6 Return ​

3 Trajectory Parameter Setting ​

3.1 Set ​

3.2 Query ​

3.3 Return ​

4 Manual Operation ​

4.1 Selection and Button Setting ​

4.2 Query ​

4.3 Return ​

4.4 Analog Setting ​

4.5 Query ​

4.6 Return ​

4.7 Oil Volume Test Time Setting ​

4.8 Query ​

4.9 Return ​

Spraying Process

1 Analog Settings

1.1 Set

1.2 Query

1.3 Return

2 Digital Settings

2.1 Digital Parameter Setting

2.2 Query

2.3 Return

2.4 Sequence Setting

2.5 Query

2.6 Return

3 Trajectory Parameter Setting

3.1 Set

3.2 Query

3.3 Return

4 Manual Operation

4.1 Selection and Button Setting

4.2 Query

4.3 Return

4.4 Analog Setting

4.5 Query

4.6 Return

4.7 Oil Volume Test Time Setting

4.8 Query

4.9 Return