Enpu Servo

Collision Detection

0x3203 NEP_FUNCTION_SET

Request parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
collisionDetectionFlag	bool	Yes	Collision detection enable
dragTeachFlag	bool	Yes	Drag teach enable
collisionThreshold	int[6]	Yes	Collision threshold for each axis

Request example:

{
    "robot": 1,
    "collisionDetectionFlag": true,
    "dragTeachFlag": false,
    "collisionThreshold": [1300, 1300, 1300, 1300, 1300, 1300]
}

Drag Teach

0x3204 NEP_FUNCTION_INQUIRE

Request parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request example:

{
    "robot": 1
}

0x3205 NEP_FUNCTION_RESPOND

Response parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
collisionDetectionFlag	bool	Yes	Collision detection enable
dragTeachFlag	bool	Yes	Drag teach enable
collisionThreshold	int[6]	Yes	Collision threshold for each axis

Response example:

{
    "robot": 1,
    "collisionDetectionFlag": true,
    "dragTeachFlag": false,
    "collisionThreshold": [1300, 1300, 1300, 1300, 1300, 1300]
}

Collision Clear

0x3206 NEP_FUNCTION_CLEAR

Request parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request example:

{
    "robot": 1
}

0x3207 NEP_FUNCTION_CLEAR_RESPOND

Controller response parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
clear	bool	Yes	true: collision cleared successfully, false: collision clear failed

Response example:

{
    "robot": 1,
    "clear": true
}