Teco Related Parameters

1. Anti-Brake Crushing Enable

Message Type	Command Code	Description
Set	0x7701 BRAKE_AVOIDCRUSHED_SET	Set anti-brake crushing enable
Query	0x7702 BRAKE_AVOIDCRUSHED_INQUIRE	Query anti-brake crushing enable status
Controller Response	0x7703 BRAKE_AVOIDCRUSHED_RESPOND	Return anti-brake crushing enable status

Set Request:

{
  "enable": true
}

Parameter	Type	Required	Description
enable	boolean	Yes	Anti-brake crushing enable: true enabled, false disabled

Query Response:

{
  "enable": 1
}

Parameter	Type	Description
enable	int	Anti-brake crushing enable status: 1 enabled, 0 disabled

---

2. Delay Parameters

Message Type	Command Code	Description
Set	0x7704 BRAKE_AVOIDCRUSHED_DELAY_SET	Set delay parameters
Query	0x7705 BRAKE_AVOIDCRUSHED_DELAY_INQUIRE	Query delay parameters
Controller Response	0x7706 BRAKE_AVOIDCRUSHED_DELAY_RESPOND	Return delay parameters

Set Request:

{
  "enableDelay": 0.5,
  "brakeOnDelay": 0.5,
  "brakeOffDelay": 0.5
}

Parameter	Type	Required	Description
enableDelay	float	Yes	Enable delay (unit: seconds)
brakeOnDelay	float	Yes	Brake release delay (unit: seconds)
brakeOffDelay	float	Yes	Brake engagement delay (unit: seconds)

Query Response:

{
  "enableDelay": 0.5,
  "brakeOnDelay": 0.5,
  "brakeOffDelay": 0.5
}

Parameter	Type	Description
enableDelay	float	Enable delay (unit: seconds)
brakeOnDelay	float	Brake release delay (unit: seconds)
brakeOffDelay	float	Brake engagement delay (unit: seconds)

---

3. Brake Parameters

Message Type	Command Code	Description
Set	0x7707 BRAKE_AVOIDCRUSHED_PARAM_SET	Set brake parameters
Query	0x7708 BRAKE_AVOIDCRUSHED_PARAM_INQUIRE	Query brake parameters
Controller Response	0x7709 BRAKE_AVOIDCRUSHED_PARAM_SRESPOND	Return brake parameters

Set Request:

{
  "jointNum": 1,
  "EncodeNum": 1,
  "Encode1Resolusion": 55555,
  "Encode2Resolusion": 55555,
  "BrakeType": 1,
  "Distance": 111,
  "CheckDistance": 111,
  "CheckTorq": 111
}

Parameter	Type	Required	Description
jointNum	int	Yes	Joint number (range: 1-6)
EncodeNum	int	Yes	Number of encoders (1 or 2)
Encode1Resolusion	int	Yes	Encoder 1 resolution
Encode2Resolusion	int	Yes	Encoder 2 resolution
BrakeType	int	Yes	Brake type: 1 pin type, 2 brake pad type
Distance	int	Yes	Movement distance
CheckDistance	int	Yes	Detection distance
CheckTorq	int	Yes	Detection torque

Query Request:

{
  "jointNum": 1
}

Parameter	Type	Required	Description
jointNum	int	Yes	Joint number (range: 1-6)

Query Response:

{
  "jointNum": 1,
  "EncodeNum": 1,
  "Encode1Resolusion": 55555,
  "Encode2Resolusion": 55555,
  "BrakeType": 1,
  "Distance": 111,
  "CheckDistance": 111,
  "CheckTorq": 111
}

Parameter	Type	Description
jointNum	int	Joint number (range: 1-6)
EncodeNum	int	Number of encoders (1 or 2)
Encode1Resolusion	int	Encoder 1 resolution
Encode2Resolusion	int	Encoder 2 resolution
BrakeType	int	Brake type: 1 pin type, 2 brake pad type
Distance	int	Movement distance
CheckDistance	int	Detection distance
CheckTorq	int	Detection torque

---

4. Static Torque

Message Type	Command Code	Description
Query	0x770B BRAKE_AVOIDCRUSHED_RECORDTORQ_INQUIRE	Get static torque
Controller Response	0x770C BRAKE_AVOIDCRUSHED_RECORDTORQ_RESPOND	Return static torque data

Query Request:

No data field

Query Response:

{
  "torq": [1.1, 22.2, -33.3, -4.5, -105, 126]
}

Parameter	Type	Description
torq	float[]	Static torque array for joints 1-6

---

5. Sidier Polishing (Extension)

Message Type	Command Code	Description
Controller Response	0x7801 SIDIER_POLISH_START_RESPOND	Sidier polishing start response

Response Data:

{
  "start": true,
  "times": 1
}

Parameter	Type	Description
start	boolean	Whether to start polishing
times	int	Number of polishing cycles