New Stamping Process

Program Execution

Main Interface

Upstream Station Material Condition Settings

0x8000 PUNCH_SET_WORKPIECE_CONDITION

{
  "prev_device_num": 1,
  "prev_station_work_condition": 0,
  "local_device_num": 1,
  "local_station_work_condition": 0,
  "fixture_num": 1,
  "fixture_station_work_condition": 0
}

Parameter	Type	Description
prev_device_num	int	Upstream station device number
prev_station_work_condition	int	Upstream station material condition: 0 no material, 1 material stamped, 2 material not stamped
local_device_num	int	Local station device number
local_station_work_condition	int	Local station material condition: 0 no material, 1 material stamped, 2 material not stamped
fixture_num	int	Fixture number
fixture_station_work_condition	int	Fixture material condition: 0 no material, 1 material stamped, 2 material not stamped

---

Fixture Material Condition Query

0x8001 PUNCH_INQUIRE_WORKPIECE_CONDITION

{
  "prev_device_num": 1,
  "local_device_num": 1,
  "fixture_num": 1
}

Parameter	Type	Description
prev_device_num	int	Upstream station device number
local_device_num	int	Local station device number
fixture_num	int	Fixture number

---

Return 0x8001 Query Result

0x8002 PUNCH_RESPOND_WORKPIECE_CONDITION

{
  "prev_device_num": 1,
  "prev_station_work_condition": 0,
  "local_device_num": 1,
  "local_station_work_condition": 0,
  "fixture_num": 1,
  "fixture_station_work_condition": 0
}

Parameter	Type	Description
prev_device_num	int	Upstream station device number
prev_station_work_condition	int	Upstream station material condition: 0 no material, 1 material stamped, 2 material not stamped
local_device_num	int	Local station device number
local_station_work_condition	int	Local station material condition: 0 no material, 1 material stamped, 2 material not stamped
fixture_num	int	Fixture number
fixture_station_work_condition	int	Fixture material condition: 0 no material, 1 material stamped, 2 material not stamped

---

Control Mode Settings

0x8003 PUNCH_SET_CONTROL_MODE

{
  "control_mode": 0
}

Parameter	Type	Description
control_mode	int	Control mode: 0 standalone, 1=Online

---

Control Mode Query

0x8004 PUNCH_INQUIRE_CONTROL_MODE

data: none

---

Control Mode Response

0x8005 PUNCH_RESPOND_CONTROL_MODE

{
  "control_mode": 0
}

Parameter	Type	Description
control_mode	int	Control mode: 0 standalone, 1=Online

---

Production Count Query

0x8006 PUNCH_INQUIRE_PRODUCE_TARGET_WASTE_NUM

data: none

---

Production Count Response

0x8007 PUNCH_RESPOND_PRODUCE_TARGET_WASTE_NUM

{
  "produce_num": 100,
  "target_num": 100,
  "waste_num": 100
}

Parameter	Type	Description
produce_num	int	Current run count
target_num	int	Target run count
waste_num	int	Waste count

---

Production Count Reset

0x8008 PUNCH_CLEAR_PRODUCE_TARGET_WASTE_NUM

{
  "produce_num": 0,
  "target_num": 100,
  "waste_num": 0
}

Parameter	Type	Description
produce_num	int	Current run count (reset to 0)
target_num	int	Target run count
waste_num	int	Waste count (reset to 0)

---

Stamping Enable Settings

0x8009 PUNCH_SET_SHIELD_CHECK_RUN_WITHOUT_PIECE_PUNCH_ENABLE

{
  "punch_enable": true,
  "run_without_workpiece_enable": true,
  "shiled_check_enable": true,
  "simu_top_point": true
}

Parameter	Type	Description
punch_enable	bool	Stamping enable
run_without_workpiece_enable	bool	Run without workpiece switch
shiled_check_enable	bool	Shield detection switch
simu_top_point	bool	Virtual top dead point switch

---

Stamping Enable Query

0x800A PUNCH_INQUIRE_SHIELD_CHECK_RUN_WITHOUT_PIECE_PUNCH_ENABLE

data: none

---

Stamping Enable Response

0x800B PUNCH_RESPOND_SHIELD_CHECK_RUN_WITHOUT_PIECE_PUNCH_ENABLE

{
  "punch_enable": true,
  "run_without_workpiece_enable": true,
  "shiled_check_enable": true,
  "simu_top_point": true
}

Parameter	Type	Description
punch_enable	bool	Stamping enable
run_without_workpiece_enable	bool	Run without workpiece switch
shiled_check_enable	bool	Shield detection switch
simu_top_point	bool	Virtual top dead point switch

---

Standalone Test Run

0x800C PUNCH_SINGLE_RUN_TEST

{
  "single_run_test": 1
}

Parameter	Type	Description
single_run_test	int	Standalone test run command (fixed value 1)

---

In-Mold Escape Test

0x800D PUNCH_ESCAPE_FROM_MOULD

{
  "escape_from_mould": 1
}

Parameter	Type	Description
escape_from_mould	int	In-mold escape test command (fixed value 1)

---

Set Fixture 1, 2 Action

0x800E PUNCH_SET_FIXTURE_ACTION

{
  "fixture1_action": 0,
  "fixture2_action": 0
}

Parameter	Type	Description
fixture1_action	int	Fixture 1 action: 0=Off, 1=On
fixture2_action	int	Fixture 2 action: 0=Off, 1=On

---

Query Fixture 1, 2 Action

0x800F PUNCH_INQUIRE_FIXTURE_ACTION

data: none

---

Receive Fixture 1, 2 Action

0x8010 PUNCH_RESPOND_FIXTURE_ACTION

{
  "fixture1_action": 0,
  "fixture2_action": 0
}

Parameter	Type	Description
fixture1_action	int	Fixture 1 action: 0=Off, 1=On
fixture2_action	int	Fixture 2 action: 0=Off, 1=On

---

Online Status Reset

0x8011 PUNCH_ONLINE_STATUS_RESET

{
  "online_status_reset": 1
}

Parameter	Type	Description
online_status_reset	int	Online status reset command (fixed value 1)

---

Pause

0x8012 PUNCH_JOBFILE_OPERATION

{
  "function_num": 0
}

Parameter	Type	Description
function_num	int	Function number: 0 start, 1 pause, 2 stop, 3 pause after returning to standby point, 4 clear material process

---

Status Window

Run Cycle

0x8013 PUNCH_INQUIRE_RUN_STATUS

{
  "robot": 1,
  "prev_puncher_num": 1,
  "local_puncher_num": 1
}

Parameter	Type	Description
robot	int	Robot number
prev_puncher_num	int	Upstream station puncher number
local_puncher_num	int	Local station puncher number

---

0x8014 PUNCH_RESPOND_RUN_STATUS

{
  "prev_puncher_num": 1,
  "local_puncher_num": 1,
  "run_cycle": 10,
  "fixture_check": true,
  "prev_station_type": 0,
  "online_work_type": 0,
  "local_station_type": 0,
  "communition_status": true,
  "robot_sum": 0,
  "current_robot_num": 1,
  "local_top_point": true,
  "prev_top_point": true,
  "local_punch_success": true,
  "prev_punch_success": true,
  "local_workpiece_condition": 0,
  "prev_workpiece_condition": 0,
  "local_in_interfere_zone": false,
  "prev_in_interfere_zone": false,
  "in_prev_interfere_zone": false,
  "in_local_interfere_zone": false,
  "fixture_workpece_condition": 0
}

Parameter	Type	Description
prev_puncher_num	int	Upstream station puncher number
local_puncher_num	int	Local station puncher number
run_cycle	int	Run cycle
fixture_check	bool	Fixture check: true no check, false normal check
prev_station_type	int	Upstream station type: 0 loader, 1 unloading table, 2 puncher, 3 flip table, 4 aerial relay
online_work_type	int	Online station: 0 standalone, 1 loading, 2 transfer, 3 unloading
local_station_type	int	Local station type: 0 loader, 1 unloading table, 2 puncher, 3 flip table, 4 aerial relay
communition_status	bool	Communication status: false communication abnormal, true communication normal
robot_sum	int	Total number of robots: 0, 1, 2, 3
current_robot_num	int	Current robot number: 1, 2, 3
local_top_point	bool	Local station top dead point: false off, true on
prev_top_point	bool	Upstream station top dead point: false off, true on
local_punch_success	bool	Local station punch success: false off, true on
prev_punch_success	bool	Upstream station punch success: false off, true on
local_workpiece_condition	int	Local station material condition: 0 no material, 1 material not stamped, 2 material stamped
prev_workpiece_condition	int	Upstream station material condition: 0 no material, 1 material not stamped, 2 material stamped
local_in_interfere_zone	bool	Downstream station in interference zone: false off, true on
prev_in_interfere_zone	bool	Upstream station in interference zone: false off, true on
in_prev_interfere_zone	bool	In upstream interference zone: false off, true on
in_local_interfere_zone	bool	In local interference zone: false off, true on
fixture_workpece_condition	int	Gripper material condition: 0 no material, 1 material not stamped, 2 material stamped

---

Four Popups

0x8015 PUNCH_SEND_ERROR_INFO

{
  "type": 0,
  "open_close": 0
}

Parameter	Type	Description
type	int	Type: 0 pick failed, 1 place failed 1, 2 place failed 2, 3 first mold completed
open_close	int	Operation: 0 close popup, 1 open popup

---

Popup Buttons

0x8016 PUNCH_RECEIVE_ERROR_DEAL

{
  "type": 0,
  "deal_method": 0
}

Parameter	Type	Description
type	int	Type: 0 pick failed, 1 place failed, 2 stamping failed, 3 manual processing, 5 start with/without material
deal_method	int	Processing method: 0 re-pick / re-place / manual stamping / manual stamping, 1 discard current material / discard current material / continue running / continue running

---

Process

Process Parameters

Selected Process Number

0x8017 PUNCH_CHOOSE_CRAFT_NUM

{
  "current_chosed_craft_num": 1
}

Parameter	Type	Description
current_chosed_craft_num	int	Selected current process number (1, 2, 3, 4)

---

Apply to Online

0x8018 PUNCH_APPLY_TO_ONLINE

{
  "current_chosed_craft_num": 1
}

Parameter	Type	Description
current_chosed_craft_num	int	Currently selected process number

---

Current Selected Process Number Query

0x8019 PUNCH_INQUIRE_CURRENT_CRAFT_NUM

data: none

---

Current Selected Process Number Response

0x801A PUNCH_RESPOND_CURRENT_CRAFT_NUM

{
  "current_chosed_craft_num": 1
}

Parameter	Type	Description
current_chosed_craft_num	int	Currently selected process number (1, 2, 3, 4)

---

Basic Settings Modification

0x801B PUNCH_SET_CRAFT_BASE_PARAM

{
  "craft_num": 1,
  "first_speed_percent": 100,
  "interp_mode": 0,
  "escape_speed_percent": 100,
  "default_program": "name"
}

Parameter	Type	Description
craft_num	int	Process number
first_speed_percent	int	First mold speed ratio (1-100)
interp_mode	int	In-mold escape interpolation mode: 0 joint, 1 linear
escape_speed_percent	int	In-mold escape speed ratio (1-100)
default_program	string	Program name

---

0x801C PUNCH_INQUIRE_CRAFT_BASE_PARAM

{
  "craft_num": 1
}

Parameter	Type	Description
craft_num	int	Process number

---

0x801D PUNCH_RESPOND_CRAFT_BASE_PARAM

{
  "craft_num": 1,
  "first_speed_percent": 100,
  "interp_mode": 0,
  "escape_speed_percent": 100,
  "default_program": "name"
}

Parameter	Type	Description
craft_num	int	Process number
first_speed_percent	int	First mold speed ratio (1-100)
interp_mode	int	In-mold escape: 0 joint, 1 linear
escape_speed_percent	int	In-mold escape speed ratio (1-100)
default_program	string	Program name

---

Online Settings

0x801E PUNCH_SET_ONLINE_PARAM

{
  "online_station_type": 0,
  "next_IP": "192.168.0.120",
  "online_direction": 0
}

Parameter	Type	Description
online_station_type	int	Online station: 0 standalone, 1 loading, 2 transfer, 3 unloading
next_IP	string	Downstream station IP
online_direction	int	Online direction: 0 reverse, 1 forward

---

0x801F PUNCH_INQUIRE_ONLINE_PARAM

data: none

---

0x8020 PUNCH_RESPOND_ONLINE_PARAM

{
  "online_station_type": 0,
  "local_IP": "192.168.0.120",
  "next_IP": "192.168.0.120",
  "online_direction": 0
}

Parameter	Type	Description
online_station_type	int	Online station: 0 standalone, 1 loading, 2 transfer, 3 unloading
local_IP	string	Local station IP
next_IP	string	Downstream station IP
online_direction	int	Online direction: 0 reverse, 1 forward

---

Communication Status

0x8021 PUNCH_INQUIRE_COMMU_STATUS_ROBOT_NUM

data: none

---

0x8022 PUNCH_RESPOND_COMMU_STATUS_ROBOT_NUM

{
  "cummunity_status": 1,
  "robot_sum": 1,
  "current_robot_num": 1
}

Parameter	Type	Description
cummunity_status	int	Communication status: 0 communication abnormal, 1 communication normal
robot_sum	int	Total number of robots
current_robot_num	int	Current robot number

---

Upstream Station Puncher Online Settings

0x8023 PUNCH_SET_PREV_STATION_PUNCHER_PARAM

{
  "prev_station_has_puncher": 0,
  "puncher_num": 1,
  "puncher_sum": 1,
  "dout_fetch_finish": 0,
  "dout_lay_finish": 0,
  "prev_station_fetch_enable": 0,
  "prev_station_lay_enable": 0,
  "fetch_delay_signal": 100,
  "lay_delay_signal": 100,
  "control_punch_enable": 0,
  "top_point": 0,
  "punch_time": 100,
  "puncher_type": 0,
  "punch_singal_param": 0,
  "delay_reset_time": 100,
  "punch_timeout_time": 100,
  "react_timeout_time": 100,
  "punch_success_confirm_time": 100,
  "punch_mould_check": 0,
  "top_point_check_when_start": 0
}

Parameter	Type	Description
prev_station_has_puncher	int	Upstream station has puncher: 0=Off, 1=On
puncher_num	int	Puncher number
puncher_sum	int	Maximum number of punchers
dout_fetch_finish	int	Output pick complete: 0=Off, 1=On
dout_lay_finish	int	Output place complete: 0=Off, 1=On
prev_station_fetch_enable	int	Upstream station pick enabled: 0=Off, 1=On
prev_station_lay_enable	int	Upstream station place enabled: 0=Off, 1=On
fetch_delay_signal	int	Pick delay signal
lay_delay_signal	int	Place delay signal
control_punch_enable	int	Punch control enabled: 0=Off, 1=On
top_point	int	Top dead point: 0=Off, 1=On
punch_time	int	Stamping duration
puncher_type	int	Puncher type: 0, 1, 2, 3
punch_singal_param	int	Stamping signal parameter: 0 top dead point reset, 1 delay reset
delay_reset_time	int	Delay reset time
punch_timeout_time	int	Stamping timeout setting
react_timeout_time	int	Reaction timeout setting
punch_success_confirm_time	int	Punch success confirmation time
punch_mould_check	int	In-mold detection: 0=Off, 1=On
top_point_check_when_start	int	Top dead point check at startup: 0=Off, 1=On

---

0x8024 PUNCH_INQUIRE_PREV_STATION_PUNCHER_PARAM

{
  "puncher_num": 1
}

Parameter	Type	Description
puncher_num	int	Puncher number

---

0x8025 PUNCH_RESPOND_PREV_STATION_PUNCHER_PARAM

{
  "prev_station_has_puncher": 0,
  "puncher_num": 1,
  "puncher_sum": 1,
  "dout_fetch_finish": 0,
  "dout_lay_finish": 0,
  "prev_station_fetch_enable": 0,
  "prev_station_lay_enable": 0,
  "fetch_delay_signal": 100,
  "lay_delay_signal": 100,
  "control_punch_enable": 0,
  "puncher_type": 0,
  "punch_singal_param": 0,
  "delay_reset_time": 100,
  "punch_timeout_time": 100,
  "react_timeout_time": 100,
  "punch_success_confirm_time": 100,
  "punch_mould_check": 0,
  "top_point_check_when_start": 0
}

Parameter	Type	Description
prev_station_has_puncher	int	Upstream station has puncher: 0=Off, 1=On
puncher_num	int	Puncher number
puncher_sum	int	Maximum number of punchers
dout_fetch_finish	int	Output pick complete: 0=Off, 1=On
dout_lay_finish	int	Output place complete: 0=Off, 1=On
prev_station_fetch_enable	int	Upstream station pick enabled: 0=Off, 1=On
prev_station_lay_enable	int	Upstream station place enabled: 0=Off, 1=On
fetch_delay_signal	int	Pick delay signal
lay_delay_signal	int	Place delay signal
control_punch_enable	int	Punch control enabled: 0=Off, 1=On
puncher_type	int	Puncher type: 0, 1, 2, 3
punch_singal_param	int	Stamping signal parameter: 0 delay reset, 1 top dead point reset
delay_reset_time	int	Delay reset time
punch_timeout_time	int	Stamping timeout setting
react_timeout_time	int	Reaction timeout setting
punch_success_confirm_time	int	Punch success confirmation time
punch_mould_check	int	In-mold detection: 0=Off, 1=On
top_point_check_when_start	int	Top dead point check at startup: 0=Off, 1=On

---

Force Punch

0x8026 PUNCH_FORCE_PUNCH

{
  "puncher_num": 1,
  "force_punch": 0
}

Parameter	Type	Description
puncher_num	int	Puncher number
force_punch	int	Force punch: 0 upstream station, 1 local station

---

Local Station Puncher Online Settings

Local Station Parameter Settings

0x8027 PUNCH_SET_LOCAL_STATION_PUNCHER_PARAM

{
  "local_station_type": 1,
  "puncher_num": 1,
  "puncher_sum": 1,
  "puncher_type": 0,
  "punch_singal_param": 1,
  "delay_reset_time": 100,
  "punch_timeout_time": 100,
  "react_timeout_time": 100,
  "punch_success_confirm_time": 100,
  "punch_mould_check": 0,
  "dout_fetch_finish": 0,
  "dout_lay_finish": 0,
  "local_station_fetch_enable": 0,
  "local_station_lay_enable": 0,
  "fetch_delay_signal": 100,
  "lay_delay_signal": 100,
  "top_point_check_when_start": 0
}

Parameter	Type	Description
local_station_type	int	Local station type: 1 unloading table, 2 puncher, 3 flip table, 4 aerial relay
puncher_num	int	Puncher number
puncher_sum	int	Maximum number of punchers
puncher_type	int	Puncher type: 0 gear, 1 pneumatic, 2 hydraulic, 3 custom
punch_singal_param	int	Stamping signal parameter: 1 top dead point reset, 0 delay reset
delay_reset_time	int	Delay reset time
punch_timeout_time	int	Stamping timeout setting
react_timeout_time	int	Reaction timeout setting
punch_success_confirm_time	int	Punch success confirmation time
punch_mould_check	int	In-mold detection: 0=Off, 1=On
dout_fetch_finish	int	Output pick complete: 0=Off, 1=On
dout_lay_finish	int	Output place complete: 0=Off, 1=On
local_station_fetch_enable	int	Local station pick enabled: 0=Off, 1=On
local_station_lay_enable	int	Local station place enabled: 0=Off, 1=On
fetch_delay_signal	int	Pick delay signal
lay_delay_signal	int	Place delay signal
top_point_check_when_start	int	Top dead point check at startup: 0=Off, 1=On

---

0x8028 PUNCH_INQUIRE_LOCAL_STATION_PUNCHER_PARAM

{
  "puncher_num": 1
}

Parameter	Type	Description
puncher_num	int	Puncher number

---

0x8029 PUNCH_RESPOND_LOCAL_STATION_PUNCHER_PARAM

{
  "local_station_type": 1,
  "puncher_num": 1,
  "puncher_sum": 1,
  "force_punch": 1,
  "puncher_type": 0,
  "punch_singal_param": 0,
  "delay_reset_time": 100,
  "punch_timeout_time": 100,
  "react_timeout_time": 100,
  "punch_success_confirm_time": 100,
  "punch_mould_check": 0,
  "local_station_fetch_enable": 0,
  "local_station_lay_enable": 0,
  "fetch_delay_signal": 100,
  "lay_delay_signal": 100,
  "top_point_check_when_start": 0
}

Parameter	Type	Description
local_station_type	int	Local station type: 1 unloading table, 2 puncher, 3 flip table, 4 aerial relay
puncher_num	int	Puncher number
puncher_sum	int	Maximum number of punchers
force_punch	int	Force punch
puncher_type	int	Puncher type: 0 gear, 1 pneumatic, 2 hydraulic, 3 custom
punch_singal_param	int	Stamping signal parameter: 0 top dead point reset, 1 delay reset
delay_reset_time	int	Delay reset time
punch_timeout_time	int	Stamping timeout setting
react_timeout_time	int	Reaction timeout setting
punch_success_confirm_time	int	Punch success confirmation time
punch_mould_check	int	In-mold detection: 0=Off, 1=On
local_station_fetch_enable	int	Local station pick enabled: 0=Off, 1=On
local_station_lay_enable	int	Local station place enabled: 0=Off, 1=On
fetch_delay_signal	int	Pick delay signal
lay_delay_signal	int	Place delay signal
top_point_check_when_start	int	Top dead point check at startup: 0=Off, 1=On

---

Feeder Parameter Settings

0x802A PUNCH_SET_FEEDER_PARAM

{
  "feeder_signal_type": 0,
  "feeder_send_piece_to_puncher": 0,
  "request_call_feed_enable": 0,
  "request_call_feed_timeout": 100,
  "request_call_feed_continued_time": 100
}

Parameter	Type	Description
feeder_signal_type	int	Feeder signal type: 0 rising edge, 1 continuous signal, 2 no detection
feeder_send_piece_to_puncher	int	Feeder sends material to puncher: 0=Off, 1=On
request_call_feed_enable	int	Call feed enabled: 0=Off, 1=On
request_call_feed_timeout	int	Call feed timeout setting
request_call_feed_continued_time	int	Call feed delay time

---

0x802B PUNCH_INQUIRE_FEEDER_PARAM

data: none

---

0x802C PUNCH_RESPOND_FEEDER_PARAM

{
  "feeder_signal_type": 0,
  "feeder_send_piece_to_puncher": 0,
  "request_call_feed_enable": 0,
  "request_call_feed_timeout": 100,
  "request_call_feed_continued_time": 100
}

Parameter	Type	Description
feeder_signal_type	int	Feeder signal type: 0 rising edge, 1 continuous signal, 2 no detection
feeder_send_piece_to_puncher	int	Feeder sends material to puncher: 0=Off, 1=On
request_call_feed_enable	int	Call feed enabled: 0=Off, 1=On
request_call_feed_timeout	int	Call feed timeout setting
request_call_feed_continued_time	int	Call feed delay time

---

Test

0x802D PUNCH_REQUEST_FEEDING_TEST

{
  "start_test": 1
}

Parameter	Type	Description
start_test	int	Start test (fixed value 1)

---

IO Settings

Modify and Save

0x802E PUNCH_SET_IO_PORT_VALUE

{
  "prev_station_puncher_top_point": [[0, 1], [0, 1]],
  "local_station_puncher_top_point": [[0, 1], [0, 1]],
  "prev_station_puncher_bottom_point": [[0, 1], [0, 1]],
  "local_station_puncher_bottom_point": [[0, 1], [0, 1]],
  "prev_station_puncher_emergency_stop": [[0, 1], [0, 1]],
  "local_station_puncher_emergency_stop": [[0, 1], [0, 1]],
  "puncher_check_mould": [[0, 1], [0, 1]],
  "prev_once_punch_check": [[0, 1], [0, 1]],
  "local_once_punch_check": [[0, 1], [0, 1]],
  "fixture_check_one": [[0, 1]],
  "fixture_check_two": [[0, 1]],
  "feed_signal": [[0, 1]],
  "prev_station_fetch_enable": [[0, 1]],
  "local_station_lay_enable": [[0, 1]],
  "in_standby1": [[0, 1]],
  "in_standby2": [[0, 1]],
  "in_standby3": [[0, 1]],
  "in_standby4": [[0, 1]],
  "prev_station_punch_signal": [[0, 1], [0, 1]],
  "local_station_punch_signal": [[0, 1], [0, 1]],
  "emergency_stop_prev_station_puncher": [[0, 1], [0, 1]],
  "emergency_stop_local_station_puncher": [[0, 1], [0, 1]],
  "fixture1": [[0, 1]],
  "fixture2": [[0, 1]],
  "request_feed": [[0, 1]],
  "turn_table_fetch_success": [[0, 1]],
  "turn_table_lay_success": [[0, 1]],
  "prev_station_interfere_zone": [[0, 1]],
  "local_station_interfere_zone": [[0, 1]],
  "fixture_standby1": [[0, 1]],
  "fixture_standby2": [[0, 1]],
  "out_standby1": [[0, 1]],
  "out_standby2": [[0, 1]],
  "out_standby3": [[0, 1]],
  "out_standby4": [[0, 1]]
}

Note: Array index 0 is the port (range 0-16), array index 1 is the value (range 0 or 1)

Input Signals:

Parameter	Description
prev_station_puncher_top_point	Puncher top dead point upstream station
local_station_puncher_top_point	Puncher top dead point local station
prev_station_puncher_bottom_point	Puncher bottom dead point upstream station
local_station_puncher_bottom_point	Puncher bottom dead point local station
prev_station_puncher_emergency_stop	Puncher emergency stop upstream station
local_station_puncher_emergency_stop	Puncher emergency stop local station
puncher_check_mould	Puncher in-mold detection
prev_once_punch_check	Upstream station single punch detection
local_once_punch_check	Local station single punch detection
fixture_check_one	Fixture check one
fixture_check_two	Fixture check two
feed_signal	Feed signal
prev_station_fetch_enable	Upstream station pick enabled
local_station_lay_enable	Local station place enabled
in_standby1	Auxiliary input 1
in_standby2	Auxiliary input 2
in_standby3	Auxiliary input 3
in_standby4	Auxiliary input 4

Output Signals:

Parameter	Description
prev_station_punch_signal	Stamping signal upstream station
local_station_punch_signal	Stamping signal local station
emergency_stop_prev_station_puncher	Emergency stop puncher upstream station
emergency_stop_local_station_puncher	Emergency stop puncher local station
fixture1	Fixture 1
fixture2	Fixture 2
request_feed	Request feed
turn_table_fetch_success	Turn table pick success
turn_table_lay_success	Turn table place success
prev_station_interfere_zone	Upstream station interference zone output
local_station_interfere_zone	Local station interference zone output
fixture_standby1	Fixture auxiliary selection one
fixture_standby2	Fixture auxiliary selection two
out_standby1	Auxiliary output 1
out_standby2	Auxiliary output 2
out_standby3	Auxiliary output 3
out_standby4	Auxiliary output 4

---

0x802F PUNCH_INQUIRE_IO_PORT_VALUE

data: none

---

0x8030 PUNCH_RESPOND_IO_PORT_VALUE

Same as 0x802E

---

IO Status

0x8031 PUNCH_MODIFY_IO_OUT_STATUS_VALUE

{
  "modify_port": 0,
  "puncher_num": 1,
  "value": 0
}

Parameter	Type	Description
modify_port	int	Auxiliary output port number (1, 2, 3, 4...)
puncher_num	int	Puncher number (1, 2, 3, 4)
value	int	Value (0 or 1)

---

0x8032 PUNCH_INQUIRE_IO_PORT_VALUE_STATUS

data: none

---

0x8033 PUNCH_RESPOND_IO_PORT_VALUE_STATUS

{
  "prev_station_puncher_top_point": [[0, 1], [0, 1]],
  "local_station_puncher_top_point": [[0, 1], [0, 1]],
  "prev_station_puncher_bottom_point": [[0, 1], [0, 1]],
  "local_station_puncher_bottom_point": [[0, 1], [0, 1]],
  "prev_station_puncher_emergency_stop": [[0, 1], [0, 1]],
  "local_station_puncher_emergency_stop": [[0, 1], [0, 1]],
  "puncher_check_mould": [[0, 1]],
  "fixture_check_one": [[0, 1]],
  "fixture_check_two": [[0, 1]],
  "feed_signal": [[0, 1]],
  "prev_station_fetch_enable": [[0, 1]],
  "local_station_lay_enable": [[0, 1]],
  "in_standby1": [[0, 1]],
  "in_standby2": [[0, 1]],
  "in_standby3": [[0, 1]],
  "in_standby4": [[0, 1]],
  "prev_once_punch_check": [[0, 1]],
  "local_once_punch_check": [[0, 1]],
  "prev_station_punch_signal": [[0, 1], [0, 1]],
  "local_station_punch_signal": [[0, 1], [0, 1]],
  "emergency_stop_prev_station_puncher": [[0, 1], [0, 1]],
  "emergency_stop_local_station_puncher": [[0, 1], [0, 1]],
  "fixture1": [[0, 1]],
  "fixture2": [[0, 1]],
  "request_feed": [[0, 1]],
  "turn_table_fetch_success": [[0, 1]],
  "turn_table_lay_success": [[0, 1]],
  "prev_station_interfere_zone": [[0, 1]],
  "local_station_interfere_zone": [[0, 1]],
  "fixture_standby1": [[0, 1]],
  "fixture_standby2": [[0, 1]],
  "out_standby1": [[0, 1]],
  "out_standby2": [[0, 1]],
  "out_standby3": [[0, 1]],
  "out_standby4": [[0, 1]]
}

Note: Array index 0 is the port (range 0-16), array index 1 is the value (range 0 or 1)

---

Interference Zone

Mark Interference Zone

0x8034 PUNCH_SIGN_INTERFERE_ZONE

{
  "interfere_zone_sign": "prev_interfere_zone"
}

Parameter	Type	Description
interfere_zone_sign	string	Mark interference zone: prev_interfere_zone (upstream station puncher), local_interfere_zone (local station puncher)

---

Return Mark Result

0x8035 PUNCH_RESPOND_SIGN_INTERFERE_ZONE

{
  "interfere_zone_sign": "prev_interfere_zone",
  "prev_station_interfere_zone_X": 0.0,
  "prev_station_interfere_zone_Y": 0.0,
  "local_station_interfere_zone_X": 0.0,
  "local_station_interfere_zone_Y": 0.0
}

Parameter	Type	Description
interfere_zone_sign	string	Mark interference zone: prev_interfere_zone (upstream station puncher), local_interfere_zone (local station puncher)
prev_station_interfere_zone_X	float	Upstream station interference zone X coordinate
prev_station_interfere_zone_Y	float	Upstream station interference zone Y coordinate
local_station_interfere_zone_X	float	Local station interference zone X coordinate
local_station_interfere_zone_Y	float	Local station interference zone Y coordinate

---

Save Values

0x8036 PUNCH_SET_INTERFERE_ZONE_VALUE

{
  "interfere_zone_enable": 0,
  "prev_station_x_min": 1.1,
  "prev_station_x_max": 2.2,
  "prev_station_y_min": 3.3,
  "prev_station_y_max": 4.4,
  "local_station_x_min": 5.5,
  "local_station_x_max": 6.6,
  "local_station_y_min": 7.7,
  "local_station_y_max": 8.8
}

Parameter	Type	Description
interfere_zone_enable	int	Interference zone enable (0 or 1)
prev_station_x_min	float	Upstream station interference zone x minimum
prev_station_x_max	float	Upstream station interference zone x maximum
prev_station_y_min	float	Upstream station interference zone y minimum
prev_station_y_max	float	Upstream station interference zone y maximum
local_station_x_min	float	Local station interference zone x minimum
local_station_x_max	float	Local station interference zone x maximum
local_station_y_min	float	Local station interference zone y minimum
local_station_y_max	float	Local station interference zone y maximum

---

0x8037 PUNCH_INQUIRE_INTERFERE_ZONE_VALUE

data: none

---

0x8038 PUNCH_RESPOND_INTERFERE_ZONE_VALUE

{
  "interfere_zone_enable": 0,
  "prev_station_x_min": 0.0,
  "prev_station_x_max": 0.0,
  "prev_station_y_min": 0.0,
  "prev_station_y_max": 0.0,
  "local_station_x_min": 0.0,
  "local_station_x_max": 0.0,
  "local_station_y_min": 0.0,
  "local_station_y_max": 0.0
}

Note: -9999 indicates not marked

Parameter	Type	Description
interfere_zone_enable	int	Interference zone enable (0 or 1)
prev_station_x_min	float	Upstream station interference zone x minimum
prev_station_x_max	float	Upstream station interference zone x maximum
prev_station_y_min	float	Upstream station interference zone y minimum
prev_station_y_max	float	Upstream station interference zone y maximum
local_station_x_min	float	Local station interference zone x minimum
local_station_x_max	float	Local station interference zone x maximum
local_station_y_min	float	Local station interference zone y minimum
local_station_y_max	float	Local station interference zone y maximum

---

Fixture Settings

0x8039 PUNCH_SET_FIXTURE_PARAM

{
  "fetch_before_time": 100.0,
  "lay_before_time": 100.0,
  "fixture1_type": 0,
  "fixture1_open_delay_error_report_time": 100.0,
  "fixture1_close_delay_error_report_time": 100.0,
  "fixture2_type": 0,
  "fixture2_open_delay_error_report_time": 100.0,
  "fixture2_close_delay_error_report_time": 100.0,
  "standby1": 0,
  "standby1_keep_time": 100.0,
  "standby2": 0,
  "standby2_keep_time": 100.0
}

Parameter	Type	Description
fetch_before_time	float	Pick pre-delay time
lay_before_time	float	Place pre-delay time
fixture1_type	int	Fixture 1 type selection: 0 suction cup, 1 electromagnet, 2 cylinder
fixture1_open_delay_error_report_time	float	Fixture 1 open delay alarm time
fixture1_close_delay_error_report_time	float	Fixture 1 close delay alarm time
fixture2_type	int	Fixture 2 type selection: 0 suction cup, 1 electromagnet, 2 cylinder
fixture2_open_delay_error_report_time	float	Fixture 2 open delay alarm time
fixture2_close_delay_error_report_time	float	Fixture 2 close delay alarm time
standby1	int	Auxiliary selection 1: 0 disabled, 1 enabled
standby1_keep_time	float	Auxiliary point 1 duration time
standby2	int	Auxiliary selection 2: 0 disabled, 1 enabled
standby2_keep_time	float	Auxiliary point 2 duration time

---

0x803A PUNCH_INQUIRE_FIXTURE_PARAM

data: none

---

0x803B PUNCH_RESPOND_FIXTURE_PARAM

{
  "fetch_before_time": 100.0,
  "lay_before_time": 100.0,
  "fixture1_type": 0,
  "fixture1_open_delay_error_report_time": 100.0,
  "fixture1_close_delay_error_report_time": 100.0,
  "fixture2_type": 0,
  "fixture2_open_delay_error_report_time": 100.0,
  "fixture2_close_delay_error_report_time": 100.0,
  "standby1": 0,
  "standby1_keep_time": 100.0,
  "standby2": 0,
  "standby2_keep_time": 100.0
}

Parameter	Type	Description
fetch_before_time	float	Pick pre-delay time
lay_before_time	float	Place pre-delay time
fixture1_type	int	Fixture 1 type selection: 0 suction cup, 1 electromagnet, 2 cylinder
fixture1_open_delay_error_report_time	float	Fixture 1 open delay alarm time
fixture1_close_delay_error_report_time	float	Fixture 1 close delay alarm time
fixture2_type	int	Fixture 2 type selection: 0 suction cup, 1 electromagnet, 2 cylinder
fixture2_open_delay_error_report_time	float	Fixture 2 open delay alarm time
fixture2_close_delay_error_report_time	float	Fixture 2 close delay alarm time
standby1	int	Auxiliary selection 1: 0 disabled, 1 enabled
standby1_keep_time	float	Auxiliary point 1 duration time
standby2	int	Auxiliary selection 2: 0 disabled, 1 enabled
standby2_keep_time	float	Auxiliary point 2 duration time

---

Stamping Process

Create Template

Confirm

0x803C PUNCH_CREATE_TEMPLATE

{
  "new_template_name": "name",
  "use_ext": false,
  "use_pallet": false,
  "pallet_type": 0,
  "pallet_ID": 1
}

Parameter	Type	Description
new_template_name	string	Program name
use_ext	bool	External axis enable
use_pallet	bool	Palletizing enable
pallet_type	int	Palletizing type: 0 upstream station palletizing, 1 local station palletizing
pallet_ID	int	Palletizing process number

---

Template Edit 2

Total Confirm

0x803D PUNCH_CONFIRM_CREATE_TEMPLATE

{
  "create_confirm": 1,
  "pick_keep_time": 10,
  "lay_keep_time": 10
}

Parameter	Type	Description
create_confirm	int	Confirm creation (fixed value 1)
pick_keep_time	int	Pick point duration time (ms)
lay_keep_time	int	Place point duration time (ms)

---

0x803E PUNCH_INQUIRE_PICK_LAY_DELAY_TIME

data: none

---

0x803F PUNCH_RESPOND_PICK_LAY_DELAY_TIME

{
  "pick_keep_time": 10,
  "lay_keep_time": 10,
  "pallet_type": 0
}

Parameter	Type	Description
pick_keep_time	int	Pick point duration time (ms)
lay_keep_time	int	Place point duration time (ms)
pallet_type	int	Palletizing type: 0 upstream station palletizing, 1 local station palletizing

---

Trajectory Parameter Settings

0x8040 PUNCH_SAVE_TRAJECTORY_PARAM

{
  "traj_num": 1,
  "interp_mode": 0,
  "vel": 10,
  "pl": 0
}

Parameter	Type	Description
traj_num	int	Trajectory number
interp_mode	int	Interpolation mode: 0 joint, 1 linear
vel	int	Speed (%)
pl	int	Smoothness

---

Trajectory Parameter Query

0x8041 PUNCH_INQUIRE_TRAJECTORY_PARAM

{
  "traj_num": 1
}

Parameter	Type	Description
traj_num	int	Trajectory number

---

Trajectory Parameter Response

0x8042 PUNCH_RESPOND_TRAJECTORY_PARAM

{
  "interp_mode": 0,
  "vel": 10,
  "pl": 0
}

Parameter	Type	Description
interp_mode	int	Interpolation mode: 0 joint, 1 linear
vel	int	Speed (%)
pl	int	Smoothness

---

Mark Point

0x8043 PUNCH_SIGN_CHOSED_POS_VALUE

{
  "chosed_pos_num": 1
}

Parameter	Type	Description
chosed_pos_num	int	Point number: 1 pick standby, 2 pick above, 3 pick point, 4 place standby, 5 place above, 6 place point

---

Selected Point Coordinate Query

0x8044 PUNCH_INQUIRE_CHOSED_POS_VALUE

{
  "chosed_pos_num": 1
}

Parameter	Type	Description
chosed_pos_num	int	Point number: 1 pick standby, 2 pick above, 3 pick point, 4 place standby, 5 place above, 6 place point

---

Selected Point Coordinate Response

0x8045 PUNCH_RESPOND_CHOSED_POS_VALUE

{
  "chosed_pos_num": 1,
  "pos_value": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "ext_pos_value": [0.0, 0.0, 0.0, 0.0]
}

Parameter	Type	Description
chosed_pos_num	int	Point number: 1 pick standby, 2 pick above, 3 pick point, 4 place standby, 5 place above, 6 place point
pos_value	array	Position coordinate values
ext_pos_value	array	External axis position coordinate values

---

Move to Selected Point

0x8046 PUNCH_MOVE_TO_POS

{
  "chosed_pos_num": 1
}

Parameter	Type	Description
chosed_pos_num	int	Point number: 1 pick standby, 2 pick above, 3 pick point, 4 place standby, 5 place above, 6 place point

---

Cancel

0x8047 PUNCH_CANCLE_CREATE_TEMPLATE

{
  "cancle": 1
}

Parameter	Type	Description
cancle	int	Cancel creation (fixed value 1)

---

Template Instructions

(Instruction editing is the same as job file: insert, modify, delete, operate, variable)

---

Auxiliary Program Editing

Template Edit 1

0x804A PUNCH_TRANSFER_TEMPLATE_JOBFILE

{
  "old_name": "old_name",
  "new_name": "new_name"
}

Parameter	Type	Description
old_name	string	Original program name
new_name	string	New program name

---

0x804B PUNCH_TRANSFER_TEMPLATE_JOBFILE

{
  "modify": 1,
  "jobfile_name": "name",
  "pick_keep_time": 10,
  "lay_keep_time": 10
}

Parameter	Type	Description
modify	int	Modify flag (fixed value 1)
jobfile_name	string	Program name
pick_keep_time	int	Pick point duration time
lay_keep_time	int	Place point duration time

---

0x804C INQUIRE

{
  "puncher_num": 1,
  "prev_local_station": 0
}

Parameter	Type	Description
puncher_num	int	Puncher number
prev_local_station	int	Upstream/local station: 0 upstream station, 1 local station

---

0x804D RESPOND

{
  "puncher_num": 1,
  "prev_local_station": 0,
  "top_point": 0,
  "punch_time": 100
}

Parameter	Type	Description
puncher_num	int	Puncher number
prev_local_station	int	Upstream/local station: 0 upstream station, 1 local station
top_point	int	Top dead point (0 or 1)
punch_time	int	Stamping duration

---

Variable Cylinder Settings

0x804E SET

{
  "trigger_conditions": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "reset_mode": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "trigger_delay_time": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "reset_delay_time": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "trigger_puncher_num": [1, 2, 3, 4, 1, 1, 1, 1, 1, 1],
  "reset_puncher_num": [1, 2, 3, 4, 1, 1, 1, 1, 1, 1],
  "port": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
  "value": [1, 1, 1, 1, 1, 1, 1, 0, 1, 1],
  "enable": [true, true, true, true, true, true, true, true, true, false]
}

Parameter	Type	Description
trigger_conditions	array	Trigger conditions
reset_mode	array	Reset mode
trigger_delay_time	array	Trigger delay time
reset_delay_time	array	Reset delay time
trigger_puncher_num	array	Trigger puncher number
reset_puncher_num	array	Reset puncher number
port	array	IO port
value	array	Effective value
enable	array	Enable switch

---

0x804F INQUIRE

data: none

---

0x8050 RESPOND

{
  "trigger_puncher_num": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "reset_puncher_num": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "trigger_conditions": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "reset_mode": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "trigger_delay_time": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "reset_delay_time": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "port": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
  "value": [1, 1, 1, 1, 1, 1, 1, 0, 1, 1],
  "enable": [true, true, true, true, true, true, true, true, true, false]
}

Parameter	Type	Description
trigger_puncher_num	array	Trigger puncher number
reset_puncher_num	array	Reset puncher number
trigger_conditions	array	Trigger conditions
reset_mode	array	Reset mode
trigger_delay_time	array	Trigger delay time
reset_delay_time	array	Reset delay time
port	array	IO port
value	array	Effective value
enable	array	Enable switch

---

Program Execution Stage Monitoring

0x8051 Query

data: none

---

0x8052 Response

{
  "program": "QQQ",
  "stage": "Before local station placing",
  "judge": [
    {"Downstream not in interference zone": true, "Place delay time": false, "Local station at top dead point": true},
    {"Place delay time": false, "Local station at top dead point": false, "Local station material picked": true}
  ]
}

Parameter	Type	Description
program	string	Program name
stage	string	Current stage
judge	array	Judgment condition list

---

Bus Type Settings

0x8101

{
  "bustype": 0
}

Parameter	Type	Description
bustype	int	Bus type: 0 ethercat, 1 canOpen

---

0x8102 Query

data: none

---

0x8103 Response

{
  "bustype": 0
}

Parameter	Type	Description
bustype	int	Bus type: 0 ethercat, 1 canOpen

---

CANopen Communication Parameter Settings

0x8104

{
  "canopen_servo": 0,
  "canopen_sum": 1,
  "canopen_cycle": 1,
  "canopen_baudrate": "500K"
}

Parameter	Type	Description
canopen_servo	int	Number of servos (0-3)
canopen_sum	int	Total count (1-7)
canopen_cycle	int	Cycle (1, 2, 4, 8, 16)
canopen_baudrate	string	Baud rate (500K)

---

0x8105 Query

data: none

---

0x8106 Response

{
  "canopen_servo": 0,
  "canopen_sum": 1,
  "canopen_cycle": 1,
  "canopen_baudrate": "500K"
}

Parameter	Type	Description
canopen_servo	int	Number of servos (0-3)
canopen_sum	int	Total count (1-7)
canopen_cycle	int	Cycle (1, 2, 4, 8, 16)
canopen_baudrate	string	Baud rate (500K)

---

Sensor Parameter Settings

0x8111

{
  "detect_enable": true,
  "switch_modify_value_by_recorded": true,
  "back_off_distance": 10.0,
  "back_off_vel": 10.0,
  "back_off_acc": 10.0,
  "rated_Fx_positive": 10.0,
  "rated_Fy_positive": 10.0,
  "rated_Fz_positive": 10.0,
  "rated_Mx_positive": 10.0,
  "rated_My_positive": 10.0,
  "rated_Mz_positive": 10.0,
  "rated_Fx_negative": 10.0,
  "rated_Fy_negative": 10.0,
  "rated_Fz_negative": 10.0,
  "rated_Mx_negative": 10.0,
  "rated_My_negative": 10.0,
  "rated_Mz_negative": 10.0,
  "enable_Fx": false,
  "enable_Fy": false,
  "enable_Fz": false,
  "enable_Mx": false,
  "enable_My": false,
  "enable_Mz": false,
  "rated_Fx_positive_GD_num": 1,
  "rated_Fy_positive_GD_num": 1,
  "rated_Fz_positive_GD_num": 1,
  "rated_Tx_positive_GD_num": 1,
  "rated_Ty_positive_GD_num": 1,
  "rated_Tz_positive_GD_num": 1,
  "rated_Fx_negative_GD_num": 1,
  "rated_Fy_negative_GD_num": 1,
  "rated_Fz_negative_GD_num": 1,
  "rated_Tx_negative_GD_num": 1,
  "rated_Ty_negative_GD_num": 1,
  "rated_Tz_negative_GD_num": 1,
  "actual_Fx_GD_num": 1,
  "actual_Fy_GD_num": 1,
  "actual_Fz_GD_num": 1,
  "actual_Tx_GD_num": 1,
  "actual_Ty_GD_num": 1,
  "actual_Tz_GD_num": 1,
  "rFx_Zero_without_load_GD_num": 1,
  "rFy_Zero_without_load_GD_num": 1,
  "rFz_Zero_without_load_GD_num": 1,
  "rTx_Zero_without_load_GD_num": 1,
  "rTy_Zero_without_load_GD_num": 1,
  "rTz_Zero_without_load_GD_num": 1,
  "rFx_Zero_with_load_GD_num": 1,
  "rFy_Zero_with_load_GD_num": 1,
  "rFz_Zero_with_load_GD_num": 1,
  "rTx_Zero_with_load_GD_num": 1,
  "rTy_Zero_with_load_GD_num": 1,
  "rTz_Zero_with_load_GD_num": 1,
  "rFx_qupi_GD_num": 1,
  "rFy_qupi_GD_num": 1,
  "rFz_qupi_GD_num": 1,
  "rTx_qupi_GD_num": 1,
  "rTy_qupi_GD_num": 1,
  "rTz_qupi_GD_num": 1
}

Parameter	Type	Description
detect_enable	bool	Detection enable
switch_modify_value_by_recorded	bool	Modify by recorded value switch
back_off_distance	float	Back-off distance
back_off_vel	float	Back-off speed
back_off_acc	float	Back-off acceleration
rated_Fx_positive	float	Fx positive rated value
rated_Fy_positive	float	Fy positive rated value
rated_Fz_positive	float	Fz positive rated value
rated_Mx_positive	float	Mx positive rated value
rated_My_positive	float	My positive rated value
rated_Mz_positive	float	Mz positive rated value
rated_Fx_negative	float	Fx negative rated value
rated_Fy_negative	float	Fy negative rated value
rated_Fz_negative	float	Fz negative rated value
rated_Mx_negative	float	Mx negative rated value
rated_My_negative	float	My negative rated value
rated_Mz_negative	float	Mz negative rated value
enable_Fx	bool	Fx enable
enable_Fy	bool	Fy enable
enable_Fz	bool	Fz enable
enable_Mx	bool	Mx enable
enable_My	bool	My enable
enable_Mz	bool	Mz enable
rated_Fx_positive_GD_num	int	Fx positive rated value GD number
rated_Fy_positive_GD_num	int	Fy positive rated value GD number
rated_Fz_positive_GD_num	int	Fz positive rated value GD number
rated_Tx_positive_GD_num	int	Tx positive rated value GD number
rated_Ty_positive_GD_num	int	Ty positive rated value GD number
rated_Tz_positive_GD_num	int	Tz positive rated value GD number
rated_Fx_negative_GD_num	int	Fx negative rated value GD number
rated_Fy_negative_GD_num	int	Fy negative rated value GD number
rated_Fz_negative_GD_num	int	Fz negative rated value GD number
rated_Tx_negative_GD_num	int	Tx negative rated value GD number
rated_Ty_negative_GD_num	int	Ty negative rated value GD number
rated_Tz_negative_GD_num	int	Tz negative rated value GD number
actual_Fx_GD_num	int	Actual Fx GD number
actual_Fy_GD_num	int	Actual Fy GD number
actual_Fz_GD_num	int	Actual Fz GD number
actual_Tx_GD_num	int	Actual Tx GD number
actual_Ty_GD_num	int	Actual Ty GD number
actual_Tz_GD_num	int	Actual Tz GD number
rFx_Zero_without_load_GD_num	int	No-load Fx zero GD number
rFy_Zero_without_load_GD_num	int	No-load Fy zero GD number
rFz_Zero_without_load_GD_num	int	No-load Fz zero GD number
rTx_Zero_without_load_GD_num	int	No-load Tx zero GD number
rTy_Zero_without_load_GD_num	int	No-load Ty zero GD number
rTz_Zero_without_load_GD_num	int	No-load Tz zero GD number
rFx_Zero_with_load_GD_num	int	Loaded Fx zero GD number
rFy_Zero_with_load_GD_num	int	Loaded Fy zero GD number
rFz_Zero_with_load_GD_num	int	Loaded Fz zero GD number
rTx_Zero_with_load_GD_num	int	Loaded Tx zero GD number
rTy_Zero_with_load_GD_num	int	Loaded Ty zero GD number
rTz_Zero_with_load_GD_num	int	Loaded Tz zero GD number
rFx_qupi_GD_num	int	Tare Fx GD number
rFy_qupi_GD_num	int	Tare Fy GD number
rFz_qupi_GD_num	int	Tare Fz GD number
rTx_qupi_GD_num	int	Tare Tx GD number
rTy_qupi_GD_num	int	Tare Ty GD number
rTz_qupi_GD_num	int	Tare Tz GD number

---

0x8112 Query

data: none

---

0x8113 Response

(Parameters same as 0x8111 settings)

---

Sensor Actual Value Query

0x8114

data: none

---

0x8115 Response

{
  "actual_value": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
}

Parameter	Type	Description
actual_value	array	Actual torque value list

---

Mark and Query No-Load Torque Value

0x8116

{
  "sign": true
}

Parameter	Type	Description
sign	bool	Mark flag

---

0x8117 Response

{
  "sign_value_without_load": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
}

Parameter	Type	Description
sign_value_without_load	array	No-load torque values

---

Mark and Query Loaded Torque Value

0x8118

{
  "sign": true
}

Parameter	Type	Description
sign	bool	Mark flag

---

0x8119 Response

{
  "sign_value_with_load": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
}

Parameter	Type	Description
sign_value_with_load	array	Loaded torque values

---

Set Tare Enable

0x811C

{
  "switch_modify_value_by_recorded": true
}

Parameter	Type	Description
switch_modify_value_by_recorded	bool	Modify by recorded value switch

---

0x811D Query

data: none

---

0x811E Response

{
  "switch_modify_value_by_recorded": true
}

Parameter	Type	Description
switch_modify_value_by_recorded	bool	Modify by recorded value switch

---

Sensor Tare Value Query

0x8121

data: none

---

0x8122 Response

{
  "qupi_value": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
}

Parameter	Type	Description
qupi_value	array	Tare values

---

Set Other Parameters

0x8123

{
  "filter_param_Q": 0.0001,
  "filter_param_R": 0.1,
  "force_sensor_sign_value_without_load_data_time": 500,
  "force_sensor_sign_value_with_load_data_time": 500,
  "force_sensor_sign_value_without_load_data_range": 0.5,
  "force_sensor_sign_value_with_load_data_range": 0.5
}

Parameter	Type	Description
filter_param_Q	float	Filter parameter Q
filter_param_R	float	Filter parameter R
force_sensor_sign_value_without_load_data_time	int	No-load torque marking data time (ms)
force_sensor_sign_value_with_load_data_time	int	Loaded torque marking data time (ms)
force_sensor_sign_value_without_load_data_range	float	No-load torque marking data range
force_sensor_sign_value_with_load_data_range	float	Loaded torque marking data range

---

0x8124 Query

data: none

---

0x8125 Response

(Parameters same as 0x8123 settings)

---

Mark Bed Plate Level Position

0x8126

data: none

---

0x8127 Query Whether Bed Plate Level Position Has Been Marked

data: none

---

0x8128 Response

{
  "already_sign_standard_pos": true
}

Parameter	Type	Description
already_sign_standard_pos	bool	Whether bed plate level position has been marked

---

Query Current Bed Plate Attitude Value

0x8129

data: none

---

0x812A Response

{
  "pos_A_degree": 18,
  "pos_B_degree": 20
}

Parameter	Type	Description
pos_A_degree	int	Bed plate attitude A angle
pos_B_degree	int	Bed plate attitude B angle

---

Generate Sensor Data File

0x812B

data: none

---

Set Payload Parameters

0x8130

{
  "payload_enable": true,
  "axis1_rated_torq": 0.5,
  "axis2_rated_torq": 0.5,
  "axis3_rated_torq": 0.5,
  "axis4_rated_torq": 0.5,
  "axis5_rated_torq": 0.5,
  "axis6_rated_torq": 0.5,
  "payload_num": 1,
  "payload_mass": 3.1,
  "payload_X": 78.5,
  "payload_Y": 78.5,
  "payload_Z": 78.5,
  "payload_name": "name"
}

Parameter	Type	Description
payload_enable	bool	Payload enable
axis1_rated_torq	float	Axis 1 rated torque
axis2_rated_torq	float	Axis 2 rated torque
axis3_rated_torq	float	Axis 3 rated torque
axis4_rated_torq	float	Axis 4 rated torque
axis5_rated_torq	float	Axis 5 rated torque
axis6_rated_torq	float	Axis 6 rated torque
payload_num	int	Payload number (1-10)
payload_mass	float	Payload mass
payload_X	float	Payload X coordinate
payload_Y	float	Payload Y coordinate
payload_Z	float	Payload Z coordinate
payload_name	string	Payload name

---

0x8131 Query

data: none

---

0x8132 Response

(Parameters same as 0x8130 settings)

---

Query Payload Parameters by Number

0x8133

{
  "payload_num": 1
}

Parameter	Type	Description
payload_num	int	Payload number (1-10)

---

0x8134 Response

{
  "payload_num": 1,
  "payload_mass": 3.1,
  "payload_X": 78.5,
  "payload_Y": 78.5,
  "payload_Z": 78.5,
  "payload_name": "name"
}

Parameter	Type	Description
payload_num	int	Payload number
payload_mass	float	Payload mass
payload_X	float	Payload X coordinate
payload_Y	float	Payload Y coordinate
payload_Z	float	Payload Z coordinate
payload_name	string	Payload name

---

Set Adaptive Acceleration/Deceleration Parameters

0x8140

{
  "auto_modify_acc_enable": true,
  "arm_inertia": [0.0, 0.0, 0.0],
  "joint1_mass": 5.5,
  "joint2_mass": 0.153,
  "joint1_mass_center_to_motor_distance": 0.05,
  "joint2_mass_center_to_motor_distance": 0.05
}

Parameter	Type	Description
auto_modify_acc_enable	bool	Adaptive acceleration/deceleration enable
arm_inertia	array	Arm inertia
joint1_mass	float	Joint 1 mass
joint2_mass	float	Joint 2 mass
joint1_mass_center_to_motor_distance	float	Joint 1 center of mass to motor distance
joint2_mass_center_to_motor_distance	float	Joint 2 center of mass to motor distance

---

0x8141 Query

data: none

---

0x8142 Response

(Parameters same as 0x8140 settings)

---

Set Adaptive Acceleration/Deceleration Payload Parameters

0x8143

{
  "payload_mass": true,
  "payload_inertia": 0.0,
  "payload_mass_center_X": 5.5,
  "payload_mass_center_Y": 0.153,
  "payload_mass_center_Z": 0.05
}

Parameter	Type	Description
payload_mass	bool	Payload mass enable
payload_inertia	float	Payload inertia
payload_mass_center_X	float	Payload center of mass X
payload_mass_center_Y	float	Payload center of mass Y
payload_mass_center_Z	float	Payload center of mass Z

---

0x8144 Query

data: none

---

0x8145 Response

(Parameters same as 0x8143 settings)