Port 7000 Communication (2207)

The controller acts as the server, with a default port number of 7000.

All data packets specified in this protocol conform to this format definition, using standard TLV (Type, Length, Value) format, with a fixed start header and CRC checksum.

Data Packet Format

Item	Length (Byte)	Description
SyncByte	2	0x4E66 fixed header
Length	2	Hex length 0-0xffff; does not include the data header and command word, does not include the CRC segment
Command	2	Command word
data	Length	Data segment (mainly JSON data format)
CRC	4	CRC checksum (CRC32) on data excluding the header

Configuration File Settings

In the configuration file controller.json, under the hostComputerService node:

• socketType: socket type, can be "TCP" or "UDP", default is "TCP"
• checkCRC: whether to perform CRC checking; when set to false, CRC is not checked, but note that the 4 bytes of data occupied by CRC must still be sent; default is true, CRC is checked

---

Query Status

Command Word: 0x9512

{
    "channel": 1,
    "stop": 1,
    "robot": 1,
    "mode": 0,
    "interval": 10,
    "queryType": [
        "realPosACS",
        "realPosMCS",
        "realPosPCS",
        "realPosUCS",
        "axisVel",
        "axisAcc",
        "torque",
        "electric",
        "numGVar",
        "IO",
        "serialNum",
        "runControlPosRunNum",
        "detailedMotionPos"
    ],
    "typeCfg": {
        "numGVar": ["GD001", "GA001", "GI001", "GI333"],
        "IO": ["DI1", "DI16", "DO1", "DO3", "DO17"],
        "detailedMotionPos": {
            "num": 10,
            "optional": ["ACS", "MCS", "time", "reset"]
        }
    }
}

Parameter Description

Parameter	Type	Required	Description
channel	int	Yes	Up to 9 channels
stop	int	No	When set to 1, stops the previous continuous transmission; the data below can be omitted
robot	int	Yes	Robot number
mode	int	Yes	0: Response mode (one request, one reply), 1: Continuous mode (one request, continuous replies)
interval	int	No	ms, only valid when mode is continuous, range 10-60000
queryType	array	No	Query type array, see table below for available values
typeCfg	object	No	Query content configuration, only valid when querying related types of data

queryType Available Values

Value	Description
realPosACS	Real-time position - Joint coordinates
realPosMCS	Real-time position - Cartesian coordinates
realPosPCS	Real-time position - Tool coordinates
realPosUCS	Real-time position - User coordinates
axisVel	Axis velocity
axisAcc	Axis acceleration
torque	Torque
electric	Current
numGVar	Numeric variables
IO	IO ports
serialNum	Serial number
runControlPosRunNum	Number of points executed in the current trajectory by motion control
detailedMotionPos	Detailed motion points; each robot supports only one channel query at the same time

typeCfg Detailed Description

Parameter	Type	Description
numGVar	array	Array of queryable variable names, e.g., ["GD001", "GA001", "GI001", "GI333"]
IO	array	Array of queryable IO names, e.g., ["DI1", "DI16", "DO1", "DO3", "DO17"], maximum count should not exceed the number of IOs
detailedMotionPos	object	Detailed motion point configuration
detailedMotionPos.num	int	Number of points to reply per data frame
detailedMotionPos.optional	array	Optional parameters: ACS (joint coordinates), MCS (Cartesian coordinates), time (timestamp), reset (reset point records)

---

Query Response

Command Word: 0x9513

{
    "channel": 1,
    "robot": 1,
    "replyData": {
        "realPosACS": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "realPosMCS": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "realPosPCS": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "realPosUCS": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "axisVel": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "axisAcc": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "torque": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "electric": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        "numGVar": {
            "GD001": 0.1,
            "GA001": true,
            "GI001": 33,
            "GI333": -55
        },
        "IO": {
            "DI1": 1,
            "DI16": 0,
            "DO1": 0,
            "DO3": 1,
            "DO17": -1
        },
        "runControlPosRunNum": 0,
        "serialNum": 1,
        "detailedMotionPos": {
            "num": 10,
            "data": [
                {
                    "time": [123456, 654321],
                    "ACS": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
                    "MCS": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]
                }
            ]
        }
    }
}

Parameter Description

Coordinate description: Robot (first 7) + External axes (last 5). When there are no external axes, the number of coordinates equals the number of axes; when there are external axes, the number of coordinates is 7 + number of external axes.

Parameter	Type	Description
channel	int	Channel number
robot	int	Robot number
replyData	object	Query response data object; fields not queried will not be replied

---

Motion Control

Command Word: 0x9521

Mode 1: Independent Points

{
    "robot": 1,
    "clearBuffer": 1,
    "targetMode": 0,
    "cfg": {
        "coord": "ACS",
        "extMove": 0,
        "sync": 0,
        "speed": 100,
        "acc": 100,
        "pl": 5,
        "moveMode": "TeachSet"
    },
    "targetPos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
    "targetVec": [
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]},
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]},
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]},
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]}
    ]
}

Mode 2: Independent Points - Partial Points per Transmission (Move After Receiving Complete Trajectory)

{
    "robot": 1,
    "clearBuffer": 1,
    "end": 0,
    "targetMode": 0,
    "sendMode": 1,
    "runMode": 0,
    "sum": 10,
    "count": 1,
    "cfg": {
        "coord": "ACS",
        "extMove": 0,
        "sync": 0,
        "speed": 100,
        "acc": 100,
        "pl": 5,
        "moveMode": "TeachSet",
        "timeout": 100
    },
    "targetVec": [
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]},
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]},
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]},
        {"pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]}
    ]
}

Mode 3: Continuous Trajectory - All Trajectory Points Transmitted at Once

{
    "robot": 1,
    "clearBuffer": 1,
    "targetMode": 1,
    "sendMode": 0,
    "cfg": {
        "coord": "ACS",
        "extMove": 0,
        "sync": 0,
        "speed": 100,
        "acc": 100
    },
    "targetVec": [
        {
            "pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "axisVel": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "axisAcc": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "timeStamp": 10
        },
        {
            "pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "axisVel": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "axisAcc": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "timeStamp": 10
        }
    ]
}

Mode 4: Continuous Trajectory - Partial Points per Transmission (Move After Receiving Complete Trajectory)

{
    "robot": 1,
    "clearBuffer": 1,
    "end": 0,
    "targetMode": 1,
    "sendMode": 1,
    "runMode": 0,
    "sum": 10,
    "count": 1,
    "cfg": {
        "coord": "ACS",
        "extMove": 0,
        "sync": 0,
        "speed": 100,
        "acc": 100,
        "timeout": 100
    },
    "targetVec": [
        {
            "pos": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "axisVel": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "axisAcc": [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
            "timeStamp": 10
        }
    ]
}

Motion Control Parameter Description

Parameter	Type	Description
robot	int	Robot number
clearBuffer	int	When set to 1, clears the motion trajectory buffer queue; if 0, this field can be omitted
end	int	When set to 1, stops the previous continuous transmission; if 0, this field can be omitted
targetMode	int	0: Independent points, 1: Continuous trajectory
sendMode	int	0: All trajectory points transmitted at once, 1: Partial points per transmission
runMode	int	Only valid for partial point transmission; 0: Move after receiving complete trajectory, 1: Move while receiving
sum	int	Only valid for "move after receiving complete trajectory"; total number of frames to send
count	int	Only valid for "move after receiving complete trajectory"; current frame number

cfg Configuration Parameter Description

Parameter	Type	Description
coord	string	Coordinate type, e.g., "ACS"
extMove	int	1 indicates external axis motion; 0 or omitted means none
sync	int	0 or omitted means external axes not synchronized, 1 means external axes synchronized
speed	int	Speed; if omitted, default value is used
acc	int	Acceleration; if omitted, default value is used
pl	int	Speed level; only valid for "independent points" mode using the "targetVec" node; default value 5
moveMode	string	Motion mode; options: "TeachSet", "MOVJ", "MOVL", "MOVS"; default value "TeachSet"
timeout	int	ms, timeout; if omitted, timeout is not checked; range 10-10000; only valid for "move after receiving complete trajectory"

targetVec Point Parameter Description

Parameter	Type	Description
pos	array	Coordinate array: Robot (first 7) + External axes (last 5)
axisVel	array	Axis velocity; only valid for continuous trajectory mode
axisAcc	array	Axis acceleration; only valid for continuous trajectory mode
timeStamp	int	ms, time relative to the start point when reaching this point; only valid for continuous trajectory mode

Note: When both targetPos and targetVec nodes exist, only the targetPos node takes effect

---

Motion Control Response

Command Word: 0x9523

{
    "robot": 1,
    "success": false,
    "size": 1,
    "cause": "timeout"
}

Parameter Description

Parameter	Type	Description
robot	int	Robot number
success	bool	Whether the reception was successful
size	int	Current number of trajectories in the motion trajectory buffer queue; only present when success is true
cause	string	Failure reason; empty on success; available values: busy (data transfer still in progress), timeout (reception timeout), dataErr (data error), termination (sender terminated the ongoing data transfer)

---

Variable and IO Control

Command Word: 0x9531

{
    "numGVar": {
        "GA001": true,
        "GI033": 6,
        "GD666": -2.33
    },
    "IO": {
        "DO1": 1,
        "DO13": 0
    }
}

Parameter Description

Parameter	Type	Description
numGVar	object	Numeric variables; key is variable name, value is variable value
IO	object	IO ports; key is IO name, value is IO state (0 or 1)

---

Servo Point Motion Control Switch

Command Word: 0x95A1

This function and the "Motion Control" function cannot be used simultaneously

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

Parameter Description

Parameter	Type	Description
robot	int	Robot number
switch	bool	true: enable, false: disable

---

Switch Response

Command Word: 0x95A3

{
    "robot": 1,
    "success": false,
    "cause": "busy"
}

Parameter Description

Parameter	Type	Description
robot	int	Robot number
success	bool	Whether successful
cause	string	Failure reason; empty on success; available values: dataErr (received data error), startupErr (startup failure), busy (current channel is occupied)

---

Point Transmission

Command Word: 0x95A4

{
    "robot": 1,
    "end": 1,
    "sum": 10,
    "count": 1,
    "PosVec": [
        [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5],
        [1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 2.1, 2.2, 2.3, 2.4, 2.5]
    ]
}

Parameter Description

Parameter	Type	Description
robot	int	Robot number
end	int	When set to 1, stops the previous continuous transmission and the data below can be omitted; if 0, this field can be omitted; when point transmission is not complete, previously received data will be cleared and a new point queue will be awaited
sum	int	Total number of frames to send
count	int	Current frame number
PosVec	array	Coordinate array; coordinate format: Robot (first 7) + External axes (last 5)

---

Point Transmission Response

Command Word: 0x95A6

{
    "robot": 1,
    "success": false,
    "cause": "dataErr"
}

Parameter Description

Parameter	Type	Description
robot	int	Robot number
success	bool	Whether the reception was successful
cause	string	Failure reason; empty on success; available values: notStart (servo point motion control mode not enabled), dataErr (data error), termination (sender terminated the ongoing data transfer), cacheFull (buffer is full, maximum cache is 6 trajectories)