TCP Communication

Set Network Parameters

0x4180 MSGCOMM_PARAM_SET

Client

Request Parameters

Field	Type	Description
frameHeader	string	Frame header
ip	string	IP address
numberSystem	int	0: decimal, 1: hexadecimal
port	int	Port number
separator	string	Separator
terminator	string	Terminator
craft	int	Process number (1~9)
robot	int	Robot number
type	int	0: server, 1: client

Request Example

{
  "client": {
    "frameHeader": "@",
    "ip": "192.168.1.111",
    "numberSystem": 1,
    "port": 9000,
    "separator": ",",
    "terminator": "!"
  },
  "craft": 1,
  "robot": 1,
  "type": 1
}

Server

Request Parameters

Field	Type	Description
frameHeader	string	Frame header
ip	string	IP address
numberSystem	int	0: decimal, 1: hexadecimal
port	int	Port number
separator	string	Separator
terminator	string	Terminator
craft	int	Process number (1~9)
robot	int	Robot number
type	int	0: server, 1: client

Request Example

{
  "craft": 3,
  "robot": 1,
  "server": {
    "frameHeader": "@A",
    "ip": "192.168.1.14",
    "numberSystem": 0,
    "port": 9001,
    "separator": "B",
    "terminator": "C"
  },
  "type": 0
}

---

Query Network Parameters

0x4181 MSGCOMM_PARAM_INQUIRE

Request Parameters

Field	Type	Description
robot	int	Robot number
craft	int	Process number
type	int	0: server, 1: client

Request Example

{
  "robot": 1,
  "craft": 1,
  "type": 2
}

---

Respond to Network Parameter Query

0x4182 MSGCOMM_PARAM_RESPOND

Client

Response Parameters

Field	Type	Description
frameHeader	string	Frame header
ip	string	IP address
numberSystem	int	0: decimal, 1: hexadecimal
port	int	Port number
separator	string	Separator
terminator	string	Terminator
craft	int	Process number
netState	bool	true: connected, false: disconnected
robot	int	Robot number
type	int	0: server, 1: client

Response Example

{
  "client": {
    "frameHeader": "@",
    "ip": "192.168.1.111",
    "numberSystem": 0,
    "port": 9000,
    "separator": ",",
    "terminator": "!"
  },
  "craft": 1,
  "netState": false,
  "robot": 1,
  "type": 1
}

Server

Response Parameters

Field	Type	Description
frameHeader	string	Frame header
ip	string	IP address
numberSystem	int	0: decimal, 1: hexadecimal
port	int	Port number
separator	string	Separator
terminator	string	Terminator
craft	int	Process number
netState	bool	true: connected, false: disconnected
robot	int	Robot number
type	int	0: server, 1: client

Response Example

{
  "craft": 1,
  "netState": false,
  "robot": 1,
  "server": {
    "frameHeader": "@",
    "ip": "192.168.1.14",
    "numberSystem": 0,
    "port": 22,
    "separator": ",",
    "terminator": "!"
  },
  "type": 0
}

---

Connect MSGCOMM Network

0x4183 MSGCOMM_DEVICE_CONNECT

Request Parameters

Field	Type	Description
robot	int	Robot number
craft	int	Process number

Request Example

{
  "robot": 1,
  "craft": 1
}

---

Close MSGCOMM Network

0x4184 MSGCOMM_DEVICE_CLOSE

Request Parameters

Field	Type	Description
robot	int	Robot number
craft	int	Process number

Request Example

{
  "robot": 1,
  "craft": 1
}