Appendix Command Word List (2207)

1. Heartbeat

Command Word	Function	Function Type
0x7266	Heartbeat check packet format	Heartbeat
0x7267	Heartbeat response packet format	Heartbeat

2. Teach Pendant Status

Command Word	Function	Function Type
0x7277	Controller sends teach pendant status	Unplug Teach Pendant
0x7278	Insert teach pendant to resume communication	Insert Teach Pendant

3. Servo Status

Command Word	Function	Function Type
0x2001	When the teach pendant needs to change the servo status	Servo Status Set and Get
0x2002	Command sent by the teach pendant to query the teach status	Servo Status Query
0x2003	Controller responds when it receives the query command, or when the current servo status changes	Servo Status Response

4. Operation Mode Status

Command Word	Function	Function Type
0x2101	When the teach pendant needs to set the current controller operation mode	Operation Mode Status Set and Get
0x2102	Command sent by the teach pendant to query the teach status	Operation Mode Query
0x2103	Controller sends command when it receives the query command, or when the current operation changes	Operation Mode Response
0x2104	When the teach pendant changes the teach operation mode	Operation Mode Change
0x2105	Command sent by the teach pendant to query the teach status	Operation Mode Query
0x2106	Return command for teach pendant querying teach status	Operation Mode Query Response

5. Coordinate Mode Status

Command Word	Function	Function Type
0x2201	When the teach pendant needs to change the current controller operation mode	Coordinate Mode Status Set and Get
0x2202	Command sent by the teach pendant to query the teach status	Coordinate Mode Query
0x2203	Controller responds when it receives the query command, or when the current coordinate status changes	Coordinate Mode Response

6. Servo Power On/Off Status

Command Word	Function	Function Type
0x2301	When the teach pendant needs to change the current controller operation mode	Servo Power On/Off Status Set and Get
0x2302	Command sent by the teach pendant to query the teach status	Power On/Off Status Query
0x2303	Controller responds when it receives the query command, or when the current power status changes	Power On/Off Status Response
0x2304	Command sent by the teach pendant to query the teach status	Power On/Off Status Query
0x2305	Controller responds when it receives the query command, or when the current power status changes	Power On/Off Status Response
0x2306	Controller responds when it receives the query command, or when the current power status changes	Power On/Off Status Response
0x2314	Robot emergency stop	Emergency Stop

7. Job File Execution Status

Command Word	Function	Function Type
0x2401	When the teach pendant needs to change the current controller job file execution mode	Job File Execution Status Set
0x2402	When using the no-file run switch	No-File Run
0x2403	When using the reverse run switch	Reverse Run
0x2405	Query forward/reverse order	Forward/Reverse Query
0x2406	Query whether currently in forward or reverse order	Forward/Reverse Set

8. Job File Transfer

Command Word	Function	Function Type
0x2501	When the teach pendant finishes sending a job file to the controller	Job File Transfer Complete
0x2503	Stop the currently running job file	Stop Job File

9. Speed Mode Status

Command Word	Function	Function Type
0x2601	When the teach pendant needs to change the current controller speed	Speed Mode Status Set and Get
0x2602	Command sent by the teach pendant to query the teach speed	Speed Query
0x2603	Controller responds when it receives the query command, or when the current speed status changes	Speed Response
0x2604	Sent when setting the joint axis jog speed	Jog Speed Set
0x2605	Sent when querying the joint axis jog speed	Jog Speed Query
0x2606	Returned when receiving a joint jog speed query	Jog Speed Response
0x2607	Sent when setting the Cartesian jog speed	Cartesian Jog Speed Set
0x2608	Sent when querying the Cartesian jog speed	Cartesian Jog Speed Query
0x2609	Returned when receiving a Cartesian jog speed query	Cartesian Jog Speed Response
0x260A	Sent when setting	Jog Sensitivity Set
0x260B	Sent when getting	Jog Sensitivity Query
0x260C	Returned	Jog Sensitivity Response

10. Run Parameters

Command Word	Function	Function Type
0x2801	Sent when setting	Run Parameter Set
0x2802	Sent when getting	Run Parameter Get
0x2803	Returned	Run Parameter Response

11. Jog Mode Status

Command Word	Function	Function Type
0x2901	When the teach pendant needs to perform a jog operation	Jog Mode Status Set and Get
0x2902	When the teach pendant stops performing a jog operation	Jog Mode Stop

12. Current Position Acquisition

Command Word	Function	Function Type
0x2A02	When the teach pendant needs to get the current position	Current Position Get
0x2A03	When the controller receives the query command	Current Position Response
0x2A04	Query motor speed	Motor Speed Query
0x2A05	Return query result	Motor Speed Response
0x2A06	Query motor torque	Motor Torque Query
0x2A07	Return query result	Motor Torque Response
0x2A08	Following error (current drive)	Following Error (Current Drive)
0x2A09	Return following error	Following Error Response
0x2A0A	Motor load rate query	Motor Load Rate Interface
0x2A0B	Return load rate	Motor Load Rate Response
0x2A12	Position point coordinate system conversion	Position Point Coordinate System Conversion
0x2A13	Controller response	Coordinate System Conversion Response
0x2A14	Following error query	Following Error
0x2A15	Return following error	Following Error Response
0x2A16	Return following error	Following Error Response

13. Message Display

Command Word	Function	Function Type
0x2B01	Message display	Message Display
0x2B03	Error display	Error Display
0x2B04	Warning display	Warning Display
0x2B05	Confirmation display	Confirmation Display

14. Remote Job File Settings

Command Word	Function	Function Type
0x2C01	Set remote job file	Remote Job File Set
0x2C02	Get remote job file	Remote Job File Get
0x2C03	Controller returns when the teach pendant queries the job file name	Job File Name Response

15. Teach Pendant Servo Mapping Settings

Command Word	Function	Function Type
0x2D01	Teach pendant sets servo mapping, sent (temporary)	Teach Pendant Servo Mapping Set
0x2D02	Teach pendant queries servo mapping from controller, sent (temporary)	Servo Mapping Query
0x2D03	Controller response (temporary)	Servo Mapping Response
0x2D05	Teach pendant queries servo mapping options from controller (temporary)	Servo Mapping Options Query
0x2D06	Controller response (temporary)	Servo Mapping Options Response

16. Robot Type and Count Query

Command Word	Function	Function Type
0x2E02	Sent when the teach pendant queries the robot type from the controller	Robot Type and Count Query
0x2E03	Sent when the controller receives the robot type query from the teach pendant	Robot Type Response
0x2E05	Sent when the teach pendant queries the number of robots from the controller	Robot Count Query
0x2E06	Sent when the controller receives the robot count query from the teach pendant	Robot Count Response
0x2E07	Teach pendant sets robot communication cycle, teach pendant sends	Robot Communication Cycle Set
0x2E08	Sent when the teach pendant queries the robot communication cycle from the controller	Robot Communication Cycle Query
0x2E09	Sent when the controller receives the robot communication cycle query from the teach pendant	Robot Communication Cycle Response
0x2E0B	Sent when the teach pendant queries the controller function limits from the controller	Function Limit Query
0x2E0C	Controller response	Function Limit Response
0x2E0E	Sent when the teach pendant queries the slave station list from the controller	Slave Station List Query
0x2E0F	Controller response	Slave Station List Response
0x2E11	Sent when the teach pendant sets the number of collaborative robots to the controller	Set Dual-Robot Collaboration
0x2E12	Sent when the teach pendant queries the number of collaborative robots from the controller	Collaborative Robot Count Query
0x2E13	Controller response	Collaborative Robot Count Response
0x2E14	Teach pendant sets robot type and mapping	Teach Pendant Robot Type and Mapping Set
0x2E15	Query robot type and mapping	Type and Mapping Query
0x2E16	Response robot type and mapping	Type and Mapping Response
0x2E17	Teach pendant sets slave axis	Slave Axis Set
0x2E18	Slave axis query	Slave Axis Query
0x2E19	Slave axis response	Slave Axis Response
0x2E1B	ENI query	ENI Query
0x2E1C	ENI response	ENI Response

17. IO Function Interface Settings

Command Word	Function	Function Type
0x2F01	IO function interface settings, teach pendant	IO Function Interface Set
0x2F02	IO function interface query settings, teach pendant	IO Function Interface Query
0x2F03	IO function interface, controller receives query	IO Function Interface Response
0x2F04	Interface settings, modify reset point position parameters, teach pendant	Reset Point Set
0x2F14	Reset point settings interface, modify reset point IO parameters, teach pendant	Reset Point IO Parameter Set
0x2F15	Read safety point error parameters	Safety Point Error Read
0x2F16	Controller sends when not at safety point	Safety Point Status Notification
0x2F17	Reset response	Safety Point Status Response
0x2F05	Reset point settings interface query, teach pendant	Reset Point Query
0x2F06	Reset point settings interface, controller receives query	Reset Point Query Response
0x2F07	Reset point settings interface, current position query, teach pendant	Current Position Query
0x2F08	Reset point settings interface, controller receives current position query	Current Position Response
0x2F09	When setting, teach pendant	Status Prompt Interface Set
0x2F0A	When querying, teach pendant	Status Prompt Query
0x2F0B	Status prompt settings interface, controller receives query	Status Prompt Response
0x2F0D	When reset settings, teach pendant	IO Output Interface Set
0x2F0E	When querying, teach pendant	IO Output Query
0x2F0F	IO output settings interface, controller receives query	IO Output Response
0x2F12	IO function status interface, teach pendant	IO Function Status Interface
0x2F13	IO function status interface, controller receives query	IO Function Status Response
0x2F1B	Remote mode interface, teach pendant queries scheduled execution status	Remote Mode Interface
0x2F1C	Controller response	Remote Mode Status Response
0x2F21	IO model settings, teach pendant sends	IO Model Set
0x2F22	IO model query, teach pendant sends	IO Model Query
0x2F23	IO model response, controller sends	IO Model Response

18. Safety Monitoring Settings

Command Word	Function	Function Type
0x2F31	Safety monitoring settings, teach pendant sends	Safety Monitoring Set
0x2F32	Teach pendant queries safety monitoring, sends	Safety Monitoring Query
0x2F33	Controller response	Safety Monitoring Response

19. IO Trigger Message Settings

Command Word	Function	Function Type
0x2F41	IO trigger message set DIN	IO Trigger Message Set
0x2F42	Query	IO Trigger Message Query
0x2F43	Controller response	IO Trigger Message Response
0x2F44	DOUT set	DOUT Trigger Message Set
0x2F45	Query	DOUT Trigger Message Query
0x2F46	Controller response	DOUT Trigger Message Response

20. Configuration File Modification and Query

Command Word	Function	Function Type
0x2F47	Modify DIN annotation configuration file	Configuration File Modify and Query
0x2F48	Query DIN configuration file	DIN Configuration File Query
0x2F49	Return DIN configuration file	DIN Configuration File Response
0x2F4A	Set DOUT	DOUT Set
0x2F4B	Teach pendant DOUT query	DOUT Query
0x2F4C	Controller returns DOUT data	DOUT Response
0x2F4D	Read DIN parameters, modify AIN parameters	AIN Parameter Modify
0x2F4E	Teach pendant queries AIN parameters	AIN Parameter Query
0x2F4F	Teach pendant returns query result	AIN Parameter Response
0x2F50	Modify AOUT annotation parameter file	AOUT Annotation Modify
0x2F51	Teach pendant queries AOUT parameter configuration file	AOUT Parameter Query
0x2F52	Controller returns query result	AOUT Parameter Response

21. Job File Instructions

Command Word	Function	Function Type
0x3001	When the teach pendant sends a job file instruction	Job File Instruction
0x3121	Used for no-file instruction running, inserting instructions into the job file	Insert Instruction
0x3002	Return to zero command	Return to Zero
0x3003	Return to zero status response	Return to Zero Status
0x3004	Return to zero complete	Return to Zero Complete

22. Job File Changes

Command Word	Function	Function Type
0x3111	Sent when deleting a job file	Job File Change
0x3112	Sent when renaming a job file	Rename Job File
0x3113	Create new job file	New Job File
0x3114	Open job file	Open Job File
0x3115	Copy job file	Copy Job File
0x3116	Clear current robot job files	Clear Job File
0x3121	Insert instruction	Insert Instruction
0x3122	Modify instruction	Modify Instruction
0x3123	Delete instruction	Delete Instruction
0x3124	Insert Position	Insert Position
0x3125	Modify Position	Modify Position
0x3127	Modify local numeric variables	Modify Local Numeric Variable

23. Clear Servo Errors

Command Word	Function	Function Type
0x3201	When the teach pendant clears servo errors	Clear Servo Error
0x3203	Collision detection + drag teaching	Enpu Servo
0x3204	Servo parameter response	Enpu Servo Parameter
0x3205	Servo parameter set	Enpu Servo Set
0x3206	Servo parameter query	Enpu Servo Query
0x3207	Servo parameter response	Enpu Servo Response

24. Zero Point Calibration

Command Word	Function	Function Type
0x3301	When the teach pendant zeros the encoder	Zero Point Calibration
0x3303	After zeroing, controller returns the following command	Zero Point Calibration Response
0x3305	Zero point offset query	Zero Point Offset
0x3306	Zero point offset response	Zero Point Offset Response
0x3307	Zero point offset set	Zero Point Offset
0x3308	Single-turn value query	Single-Turn Value
0x3309	Single-turn value response	Single-Turn Value Response
0x330A	Single-turn value set	Single-Turn Value Set

25. Version Number Acquisition

Command Word	Function	Function Type
0x3402	When the teach pendant needs to get the current controller version number	Version Number Get
0x3403	When the controller receives the query command	Version Number Response

26. Instruction Jump

Command Word	Function	Function Type
0x3501	When the controller finishes executing an instruction, sends a jump to the teach pendant	Instruction Jump
0x3501	When the controller finishes executing an instruction, sends a jump to the teach pendant	Instruction Jump
0x3502	When the controller executes a CRAFTLINE instruction, sends a jump to the teach pendant	CRAFTLINE Jump
0x3503	When the teach pendant establishes a network connection with the controller, the teach pendant queries the current line number	Line Number Query
0x3504	When the teach pendant establishes a network connection with the controller, the controller returns content	Line Number Response

27. DIN DOUT Status

Command Word	Function	Function Type
0x3601	When the teach pendant sets DOUT	DOUT Set
0x3602	When the teach pendant queries DOUT status	DOUT Query
0x3603	When the controller receives a DOUT status query	DOUT Response
0x3605	When the teach pendant queries DIN status	DIN Query
0x3606	When the controller receives a DIN status query	DIN Response
0x3607	When the teach pendant sets AOUT	AOUT Set
0x3608	When the teach pendant queries AOUT status	AOUT Query
0x3609	When the controller receives an AOUT status query	AOUT Response
0x360A	When the teach pendant queries DIN status	DIN Query
0x360B	When the controller receives a DIN status query	DIN Response

28. Tool Calibration

Command Word	Function	Function Type
0x3801	After seven points are calibrated, send calibration data	Tool Calibration
0x3802	When querying calibration point data	Calibration Point Query
0x3803	When returning calibration point data	Calibration Point Response
0x3804	When calibration calculation is complete	Calibration Calculation Complete
0x3814	Query calibrated status	Calibrated Status Query
0x3815	Return calibration status	Calibrated Status Response
0x3816	Clear calibration status	Clear Calibration
0x3805	When setting tool parameters	Tool Parameter Set
0x3806	When querying tool parameters	Tool Parameter Query
0x3807	When returning tool parameters	Tool Parameter Response
0x380A	When switching tools	Tool Switch
0x380B	When querying the current tool	Current Tool Query
0x380C	When returning the current tool	Current Tool Response
0x3812	When querying calibrated point data	Calibrated Point Query
0x3813	When returning calibrated point data	Calibrated Point Response

29. DH Parameters

Command Word	Function	Function Type
0x3A01	DH parameter set, send the following command	DH Parameter
0x3A02	DH parameter query, send the following command	DH Parameter Query
0x3A03	DH parameter response, send the following command	DH Parameter Response

30. Joint Parameters

Command Word	Function	Function Type
0x3B01	Joint parameter set, send the following command	Joint Parameter
0x3B02	Joint parameter query, send the following command	Joint Parameter Query
0x3B03	Joint parameter response, send the following command	Joint Parameter Response
0x3B04	Cartesian coordinate parameter set, send the following command	Cartesian Coordinate Parameter
0x3B05	Cartesian coordinate parameter query, send the following command	Cartesian Coordinate Parameter Query
0x3B06	Cartesian coordinate parameter response, send the following command	Cartesian Coordinate Parameter Response
0x3B07	Encoder multi-turn value overflow count function set	Encoder Multi-Turn Overflow Count Function
0x3B08	Encoder multi-turn value overflow count function query	Encoder Multi-Turn Overflow Count Function Query
0x3B09	Encoder multi-turn value overflow count function response	Encoder Multi-Turn Overflow Count Function Response

31. User Coordinate Calibration

Command Word	Function	Function Type
0x3C01	User coordinate correction set, send the following command	User Coordinate Calibration
0x3C02	User coordinate correction query, send the following command	User Coordinate Calibration Query
0x3C03	User coordinate correction response	User Coordinate Correction Response
0x3C04	Data return format	Data Return Format
0x3C07	User coordinate set, send the following command	User Coordinate Set
0x3C08	User coordinate query, send the following command	User Coordinate Query
0x3C09	Query response format	User Coordinate Response
0x3C0A	User coordinate number set, send the following command	User Coordinate Number Set
0x3C0B	User coordinate number query, send the following command	User Coordinate Number Query
0x3C0C	User coordinate number query response	User Coordinate Number Response
0x3C0D	User annotation set, send the following command	User Annotation Set
0x3C0E	User annotation query, send the following command	User Annotation Query
0x3C0F	User annotation query response	User Annotation Response

32. Program Run Status Query

Command Word	Function	Function Type
0x3D02	Sent when querying program run status	Program Run Status Query
0x3D03	Response when querying program run status	Program Run Status Response

33. Preset Robot

Command Word	Function	Function Type
0x3E01	Preset robot	Preset Robot
0x3E02	Preset robot set	Preset Robot Set
0x3E03	Preset robot response	Preset Robot Response

34. Robot Range

Command Word	Function	Function Type
0x3F01	Sent when setting robot range	Robot Range
0x3F02	Sent when querying robot range	Robot Range Query
0x3F03	Returned when receiving robot range query	Robot Range Response
0x3F04	Sent when setting vision range	Vision Range
0x3F05	Sent when querying vision range	Vision Range Query
0x3F06	Returned when receiving vision range query	Vision Range Response
0x3F07	Sent when setting interference zone range	Interference Zone Range
0x3F08	Sent when querying interference zone range	Interference Zone Range Query
0x3F09	Returned when receiving interference zone range query	Interference Zone Range Response

35. Welding Device

Command Word	Function	Function Type
0x4001	Sent when setting welding device	Welding Device
0x4002	Sent when querying welding device	Welding Device Query
0x4003	Returned when receiving welding device query	Welding Device Response
0x4004	Sent when setting current/voltage matching	Current/Voltage Matching
0x4005	Sent when querying current/voltage matching	Current/Voltage Matching Query
0x4006	Returned when receiving current/voltage matching query	Current/Voltage Matching Response
0x4007	Sent when setting welding parameters	Welding Parameters
0x4008	Sent when querying welding parameters	Welding Parameter Query
0x4009	Returned when receiving welding parameter query	Welding Parameter Response
0x400A	Welding parameter response	Welding Parameter Response
0x400B	Sent when setting weave welding parameters	Weave Welding Parameters
0x400C	Sent when querying weave welding parameters	Weave Welding Parameter Query
0x400D	Returned when receiving weave welding parameter query	Weave Welding Parameter Response
0x400E	Sent when setting actual current/voltage matching parameter values	Current/Voltage Matching Actual Value
0x400F	Set actual current/voltage matching parameter values, controller response	Current/Voltage Matching Parameter Response
0x4010	Start analog matching	Start Analog Matching
0x4011	Sent when setting welding IO interface	Welding IO Interface
0x4012	Sent when querying welding IO interface	Welding IO Interface Query
0x4013	Controller response when receiving welding IO interface query	Welding IO Interface Response
0x4015	Sent when querying welding status	Welding Status
0x4016	Controller response when receiving welding status query	Welding Status Response
0x4017	Spot welding parameter set	Spot Welding Parameters
0x4018	Direct current/voltage setting	Direct Current/Voltage Set
0x401A	Set welder mode	Welder
0x401B	Welder parameter query	Welder Parameter Query
0x401C	Welder parameter data response	Welder Parameter Response
0x401D	Welder selection set	Welder Selection Set
0x401E	Query	Welder Selection Query
0x401F	Response	Welder Selection Response
0x4022	Welder communication status query	Welder Communication Status Query
0x4023	Response	Welder Communication Status Response

36. Intersecting Line Welding Workpiece Coordinate System Calibration

Command Word	Function	Function Type
0x4051	Coordinate calibration set, send the following command	Intersecting Line Welding Workpiece Coordinate System Calibration
0x4052	Coordinate calibration query, send the following command	Coordinate Calibration Query
0x4053	Response	Coordinate Calibration Response
0x4054	Data return format	Data Return Format
0x4055	Intersecting line workpiece parameter set, send the following command	Intersecting Line Workpiece Parameter Set
0x4056	Intersecting line workpiece parameter query, send the following command	Intersecting Line Workpiece Parameter Query
0x4057	Intersecting line workpiece parameter query, response command	Intersecting Line Workpiece Parameter Response
0x4061	Intersecting line welding torch parameter set, send command	Intersecting Line Welding Torch Parameter Set
0x4062	Intersecting line welding torch parameter query, send command	Intersecting Line Welding Torch Parameter Query
0x4063	Intersecting line welding torch parameter query, response command	Intersecting Line Welding Torch Parameter Response
0x4065	Set flag for intersecting line process with/without positioner, send the following command	Intersecting Line Process Flag Set
0x4066	Coordinate calibration query, send the following command	Intersecting Line Calibration Query
0x4067	Response	Intersecting Line Calibration Response

37. Vision Parameters

Command Word	Function	Function Type
0x4101	Set vision parameters	Vision Parameters
0x4102	Vision parameter set	Vision Parameter Set
0x4103	Vision parameter query	Vision Parameter Query
0x4104	Vision parameter response	Vision Parameter Response
0x4105	Vision parameter enable	Vision Parameter Enable
0x4106	Vision parameter enable response	Vision Parameter Enable Response
0x4107	Query vision debug point list	Vision Debug
0x4108	Return vision debug point list	Vision Debug Point Response
0x4109	Clear vision debug point list	Clear Vision Debug Points
0x410A	Take photo	Vision Photo
0x410B	Calculate offset	Vision Calculate Offset
0x410C	Move to this point	Vision Move to Point
0x4110	Vision parameter set	Vision Parameter Set
0x4111	Vision parameter query	Vision Parameter Query
0x4112	Vision parameter response	Vision Parameter Response
0x4113	Vision parameter enable	Vision Parameter Enable
0x4114	Query network IP	Query Network IP
0x4115	Query network IP response	Network IP Response

38. Laser Sensor

Command Word	Function	Function Type
0x4130	Set laser parameters	Set Laser Parameters
0x4131	Query laser tracking parameters	Query Laser Tracking Parameters
0x4132	Response to laser tracking parameters	Laser Tracking Parameter Response
0x4133	Set positioning/tracking type	Set Positioning/Tracking Type
0x4134	Query positioning/tracking type	Query Positioning/Tracking Type
0x4136	Set tracking parameter table	Set Tracking Parameter Table
0x4137	Query tracking parameters	Query Tracking Parameters
0x4138	Response	Tracking Parameter Response
0x4139	Positioning parameter table set	Positioning Parameter Table Set
0x413A	Query	Positioning Parameter Table Query
0x413B	Response	Positioning Parameter Table Response
0x413C	Copy	Positioning Parameter Table Copy
0x413D	Clear	Positioning Parameter Table Clear
0x4140	Laser sensor calibration, calibration record query	Laser Sensor Calibration
0x4141	Response	Laser Sensor Calibration Response
0x4142	Record calibration point	Record Calibration Point
0x4143	Calibration point record response	Calibration Point Record Response
0x4144	Move to calibration point	Move to Calibration Point
0x4145	Calculate calibration result	Calculate Calibration Result
0x4146	Calibration result response	Calibration Result Response
0x4147	Clear calibration records	Clear Calibration Records
0x4148	Cancel calibration	Cancel Calibration

39. Arc Tracking

Command Word	Function	Function Type
0x4150	Set communication parameters	Arc Tracking
0x4151	Query communication parameters	Arc Tracking Communication Parameter Query
0x4152	Response to communication parameter query	Arc Tracking Communication Parameter Response
0x4153	Set compensation parameters	Arc Tracking Compensation Parameter Set
0x4154	Query compensation parameters	Arc Tracking Compensation Parameter Query
0x4155	Response to compensation parameter query	Arc Tracking Compensation Parameter Response

40. Arc Positioning

Command Word	Function	Function Type
0x4160	Set parameters	Arc Positioning
0x4161	Query parameters	Arc Positioning Parameter Query
0x4162	Response to query	Arc Positioning Parameter Response
0x4163	Query whether laser is calibrated	Laser Calibration Query
0x4164	Response	Laser Calibration Status Response

41. Conveyor

Command Word	Function	Function Type
0x4801	Conveyor tracking set conveyor parameters	Conveyor
0x4802	Query conveyor parameters	Conveyor Parameter Query
0x4803	Return conveyor parameters	Conveyor Parameter Response
0x4804	Set workpiece identification parameters	Workpiece Identification Parameter Set
0x4805	Query workpiece identification parameters	Workpiece Identification Parameter Query
0x4806	Return workpiece identification parameters	Workpiece Identification Parameter Response
0x4807	Real-time query of encoder value and conveyor speed	Real-Time Query
0x4808	Response to real-time query	Real-Time Query Response
0x4810	Conveyor coordinate system calibration calculates user coordinate system	Conveyor Coordinate System Calibration
0x4811	Calibration get coordinates	Calibration Get Coordinates
0x4812	Query calibrated point coordinates	Calibrated Coordinate Query
0x4813	Return calibrated point coordinates	Calibrated Coordinate Response
0x4814	Clear calibration values	Clear Calibration Values
0x4815	Cancel calibration	Cancel Calibration
0x4816	Sensor position calibration, sensor position query	Sensor Position Calibration
0x4817	Response to sensor position query	Sensor Position Response
0x4818	Sensor position start calibration and parameter query	Sensor Position Calibration Start
0x4819	Response to sensor position calibration parameter query	Sensor Position Calibration Parameter Response
0x481A	Sensor position parameter calibration	Sensor Position Parameter Calibration
0x481C	Sensor tracking grab posture parameter query	Grab Posture Parameter Query
0x481D	Response to sensor tracking grab posture query	Grab Posture Parameter Response
0x481E	Sensor tracking grab posture calibration	Grab Posture Calibration
0x4820	Clear calibration values	Clear Calibration Values
0x4821	Cancel calibration	Cancel Calibration
0x4822	Calculate sensor position	Calculate Sensor Position
0x4830	Set conveyor tracking position parameters	Conveyor Tracking Position Parameter Set
0x4831	Query conveyor tracking position parameters	Conveyor Tracking Position Parameter Query
0x4832	Return conveyor tracking position parameters	Conveyor Tracking Position Parameter Response
0x4833	Calibrate position	Calibrate Position
0x4834	Return calibrate position	Calibrate Position Response
0x4835	Copy conveyor parameters	Copy Conveyor Parameters
0x4836	Clear conveyor parameters	Clear Conveyor Parameters
0x4837	Move to specified position	Move to Specified Position

42. MSG Communication

Command Word	Function	Function Type
0x4180	MSG communication set network parameters	MSG Communication
0x4181	Query network parameters	Network Parameter Query
0x4182	Response to network parameter query	Network Parameter Response
0x4183	Connect MSGCOMM network	Connect MSGCOMM
0x4184	Close MSGCOMM network	Close MSGCOMM

43. Palletizing Process

Command Word	Function	Function Type
0x4201	Palletizing process set gripper parameters	Palletizing Process
0x4202	Query gripper parameters	Gripper Parameter Query
0x4203	Return gripper parameters	Gripper Parameter Response
0x4204	Set pallet parameters	Pallet Parameter Set
0x4205	Query pallet parameters	Pallet Parameter Query
0x4206	Return pallet parameters	Pallet Parameter Response
0x4207	Set position parameters	Position Parameter Set
0x4208	Query position parameters	Position Parameter Query
0x4209	Return position parameters	Position Parameter Response
0x420A	Set workpiece parameters	Workpiece Parameter Set
0x420B	Query workpiece parameters	Workpiece Parameter Query
0x420C	Return workpiece parameters	Workpiece Parameter Response
0x420D	Set approach parameters	Approach Parameter Set
0x420E	Query approach parameters	Approach Parameter Query
0x420F	Return approach parameters	Approach Parameter Response
0x4210	Set stacking mode parameters	Stacking Mode Parameter Set
0x4211	Query stacking mode parameters	Stacking Mode Parameter Query
0x4212	Return stacking mode parameters	Stacking Mode Parameter Response
0x4213	Set plane mode parameters	Plane Mode Parameter Set
0x4214	Query plane mode parameters	Plane Mode Parameter Query
0x4215	Return plane mode parameters	Plane Mode Parameter Response
0x4216	Request conversion to plane mode custom template	Plane Mode Conversion Request
0x4217	Return corresponding parameters after conversion to plane mode custom template	Plane Mode Conversion Response
0x4218	Request plane mode preview	Plane Mode Preview Request
0x4219	Return plane mode preview parameters	Plane Mode Preview Response
0x421A	Set palletizing status	Palletizing Status Set
0x421B	Query palletizing status	Palletizing Status Query
0x421C	Return palletizing status	Palletizing Status Response
0x421D	Copy palletizing parameters	Copy Palletizing Parameters
0x421E	Clear palletizing parameters	Clear Palletizing Parameters
0x421F	Copy layer pattern parameters	Copy Layer Pattern Parameters
0x4221	Switch palletizing type in use	Palletizing Type Switch
0x4222	Query current palletizing type in use	Palletizing Type Query
0x4223	Response	Palletizing Type Response
0x4224	Set simple palletizing position	Simple Palletizing Position Set
0x4225	Query simple palletizing position	Simple Palletizing Position Query
0x4226	Response	Simple Palletizing Position Response
0x4227	Set simple palletizing gripper parameters	Simple Palletizing Gripper Parameter Set
0x4228	Query simple palletizing gripper parameters	Simple Palletizing Gripper Parameter Query
0x4229	Return simple palletizing gripper parameters	Simple Palletizing Gripper Parameter Response
0x422A	Copy simple palletizing parameters	Copy Simple Palletizing Parameters
0x422B	Clear simple palletizing parameters	Clear Simple Palletizing Parameters
0x422C	Palletizing reset	Palletizing Reset
0x4232	Palletizing custom mode drag and rotate, no save query, send	Palletizing Custom Mode
0x4233	Controller response	Palletizing Custom Mode Response
0x4242	Point debug interface get all workpiece data	Workpiece Data Get
0x4243	Controller response	Workpiece Data Response
0x4244	Overall offset	Overall Offset
0x4245	Apply to same layer	Apply to Same Layer
0x4247	Modify single workpiece position	Single Workpiece Position Modify
0x4248	Get single workpiece position	Single Workpiece Position Get
0x4249	Controller response single workpiece position	Single Workpiece Position Response
0x424A	Save point debug content from cache to file	Point Save
0x424D	Move to workpiece position	Move to Workpiece Position

44. Controller IP Settings

Command Word	Function	Function Type
0x4301	Controller IP set	Controller IP Set
0x4302	Controller IP set response	Controller IP Set Response
0x4303	Controller IP query	Controller IP Query
0x4305	Query whether controller initialization is complete	Controller Initialization Status Query
0x4306	Controller response	Controller Initialization Status Response

45. Laser Cutting Process

Command Word	Function	Function Type
0x4401	Laser cutting process IO port set	Laser Cutting Process
0x4402	IO port query	IO Port Query
0x4403	Controller response	IO Port Response
0x4404	Global parameter set	Global Parameter Set
0x4405	Global parameter query	Global Parameter Query
0x4406	Controller response	Global Parameter Response
0x4407	Analog matching set	Analog Matching Set
0x4408	Analog matching query	Analog Matching Query
0x4409	Controller response	Analog Matching Response
0x440A	Cutting parameter set	Cutting Parameter Set
0x440B	Cutting parameter query	Cutting Parameter Query
0x440C	Controller response	Cutting Parameter Response
0x440E	Status view query	Status View Query
0x440F	Controller response	Status View Response
0x4410	Pulse parameter set	Pulse Parameter Set
0x4411	Manual operation	Manual Operation
0x4412	Manual operation current status	Manual Operation Status
0x4413	Controller response	Manual Operation Response
0x4417	Send in analog matching	Analog Matching Send
0x4419	Controller response	Analog Matching Response

46. Robot Motion

Command Word	Function	Function Type
0x4501	Robot joint motion MOVJ	Robot Motion
0x4502	Robot linear motion MOVL	Robot Motion
0x4503	Robot circular motion MOVC	Robot Motion
0x4504	Robot spline motion MOVS	Robot Motion

47. Grinding

Command Word	Function	Function Type
0x4601	Grinding	Grinding
0x4602	Grinding parameter set	Grinding Parameter Set
0x4603	Grinding parameter response	Grinding Parameter Response

48. Spraying

Command Word	Function	Function Type
0x4701	Spraying analog set	Spraying
0x4702	Query	Spraying Analog Query
0x4703	Response	Spraying Analog Response
0x4704	Digital set	Spraying Digital Set
0x4705	Query	Spraying Digital Query
0x4706	Response	Spraying Digital Response
0x4707	Timing set	Spraying Timing Set
0x4708	Query	Spraying Timing Query
0x4709	Response	Spraying Timing Response
0x470A	Trajectory parameter set	Spraying Trajectory Parameter Set
0x470B	Query	Spraying Trajectory Parameter Query
0x470C	Response	Spraying Trajectory Parameter Response
0x4711	Selection and buttons in manual operation	Spraying Manual Operation
0x4712	Query	Manual Operation Query
0x4713	Response	Manual Operation Response
0x4714	Analog set in manual operation	Spraying Manual Analog Set
0x4715	Query	Spraying Manual Analog Query
0x4716	Response	Spraying Manual Analog Response
0x4717	Oil quantity test time in manual operation	Oil Test Time Set
0x4718	Query	Oil Test Time Query
0x4719	Response	Oil Test Time Response

49. Robot Switching

Command Word	Function	Function Type
0x5001	Sent when switching robot	Switch Robot
0x5002	Sent when querying robot	Robot Query
0x5003	Returned when receiving robot query	Robot Response

50. Loop Count

Command Word	Function	Function Type
0x5011	Sent when setting loop count	Loop Count
0x5012	Sent when querying loop count	Loop Count Query
0x5013	Returned when receiving loop count query	Loop Count Response

51. Run Time

Command Word	Function	Function Type
0x5022	Sent when querying run time	Run Time
0x5023	Returned when receiving run time query	Run Time Response

52. Remote Mode Connection Status

Command Word	Function	Function Type
0x5032	Remote mode connection status, sent when querying connection status	Remote Mode Connection Status
0x5033	Returned when receiving connection status query	Remote Mode Connection Status Response

53. Servo Connection Status

Command Word	Function	Function Type
0x5042	Servo connection status query	Servo Connection Status
0x5043	Returned when receiving connection status query	Servo Connection Status Response

54. Controller License

Command Word	Function	Function Type
0x5052	Controller License, get controller ID	Controller License
0x5053	Controller response	License Response
0x5055	Get remaining usage days	Remaining Usage Days Query
0x5056	Controller response	Remaining Usage Days Response
0x5057	Update license	License Update
0x5059	Controller response	License Update Response
0x505C	Send	Send
0x505F	Send	Send

55. Restart Controller

Command Word	Function	Function Type
0x5061	Sent when restarting controller	Restart Controller
0x5064	Factory reset	Factory Reset

56. Servo Parameters

Command Word	Function	Function Type
0x5071	Set servo internal parameters through controller	Servo Parameter
0x5072	Query	Servo Parameter Query
0x5073	Response	Servo Parameter Response

57. Auto-Start Program

Command Word	Function	Function Type
0x5081	Auto-start program run set	Auto-Start Program
0x5082	Query	Auto-Start Program Query
0x5083	Response	Auto-Start Program Response

58. Program Instruction Order

Command Word	Function	Function Type
0x5092	Program instruction order query	Program Instruction Order
0x5093	Return instruction count (up to two return signals)	Instruction Count Response

59. Operation Parameters

Command Word	Function	Function Type
0x50A1	Operation parameter set	Operation Parameter Set
0x50A2	Query	Operation Parameter Query
0x50A3	Controller response	Operation Parameter Response
0x50A4	Teach pendant set angle amplitude	Angle Amplitude Set

60. File Transfer

Command Word	Function	Function Type
0x5501	Request to upload a file	File Transfer
0x5502	Approve upload request, reject upload request	Upload Response
0x5504	Request to download a file	Download Request
0x5505	Approve download request, reject download request	Download Response
0x5525	File transfer network abnormal interruption	File Transfer Interruption
0x5507	Teach pendant queries controller configuration file directory	Configuration File Directory Query
0x5508	Controller sends the number and names of files in the configuration file directory to the teach pendant	Configuration File Directory Response
0x5542	Teach pendant requests log file list	Log File List Request
0x5543	Controller replies with log file list	Log File List Response
0x5532	Teach pendant requests job file list	Job File List Request
0x5533	Controller replies with job file list	Job File List Response
0x5534	ReceiveJobListByRobot	Get Job File List by Robot
0x5535	ReceiveFinish	Receive Complete

61. Global Variables

Command Word	Function	Function Type
0x5602	GetAllGlobalPosition	Global Variable
0x5603	ReceiveAllGlobalPosition	Global Variable Response
0x5604	SetGlobalPosition	Global Position Set
0x5605	GetGlobalPosition	Global Position Get
0x5606	Controller response	Global Position Response
0x5607	SetGlobalVariant	Global Variable Set
0x5608	GetGlobalVariant	Global Variable Get
0x5609	ReceiveGlobalVariant	Global Variable Response
0x560B	Query a global variable	Global Variable Query
0x560C	Controller response	Global Variable Query Response
0x5612	Local variable position P point query	P Point Query
0x5613	Response	P Point Response
0x5615	Local variable position E point query	E Point Query
0x5616	Response	E Point Response
0x5618	Local variable numeric variable query	Numeric Variable Query
0x5619	Response	Numeric Variable Response

62. Modbus

Command Word	Function	Function Type
0x5701	Set Modbus program	Modbus
0x5702	Query Modbus program	Modbus Program Query
0x5703	Value returned by the controller when querying Modbus program	Modbus Program Response
0x5711	Set Modbus parameters	Modbus Parameter Set
0x5712	Query Modbus parameters	Modbus Parameter Query
0x5713	Controller response	Modbus Parameter Response
0x5714	Modbus enable	Modbus Enable
0x5718	Modbus query	Modbus Query
0x5719	Send	Modbus Send

63. Data Upload

Command Word	Function	Function Type
0x5721	Set enable	Data Upload
0x5722	Query data transfer status	Data Transfer Status Query
0x5723	Return data transfer status	Data Transfer Status Response
0x5724	Set data transfer data	Data Transfer Data Set
0x5725	Query data transfer data	Data Transfer Data Query
0x5726	Return data transfer data	Data Transfer Data Response
0x5727	Set data format	Data Format Set
0x5728	Query data format	Data Format Query
0x5729	Return data format	Data Format Response

64. Screwdriving

Command Word	Function	Function Type
0x5731	Modify screwdriving parameters	Screwdriving
0x5732	Teach pendant queries screwdriving parameters	Screwdriving Parameter Query
0x5733	Send screwdriving parameters	Screwdriving Parameter Send
0x5736	Send IO status	Screwdriving IO Status Send
0x5738	Screwdriving lock result query	Screwdriving Lock Result Query
0x5739	Send lock result	Screwdriving Lock Result Send

65. Teach Pendant Query Robot Run Status

Command Word	Function	Function Type
0x9102	Teach pendant queries robot run status	Teach Pendant Query Robot Run Status
0x9103	Send robot run status (0x95XX is occupied by host computer service functions)	Robot Run Status Send

66. Error Messages

Command Word	Function	Function Type
0x6010	Server sends error	Server Error
0x6020	Send robot error	Robot Error
0x6030	Send controller error	Controller Error
0x6040	Send memory error	Memory Error

67. Warnings and Messages

Command Word	Function	Function Type
0x6110	Warning type	Warning Type
0x6210	Message type	Message Type

68. External Axes

Command Word	Function	Function Type
0x7001	Positioner coordinate correction set, send the following command	External Axis
0x7002	Positioner coordinate correction query, send the following command	External Axis Coordinate Correction Query
0x7003	Response	External Axis Coordinate Correction Response
0x7004	Data return format	Data Return Format
0x7005	Query all external axis calibration results	External Axis Calibration Result Query
0x7006	Return external axis calibration results	External Axis Calibration Result Response
0x7007	Positioner coordinate system query, send the following command	Positioner Coordinate System Query
0x7008	Response	Positioner Coordinate System Response
0x700D	Set ground track parameters, teach pendant	Ground Track Parameter Set
0x700E	Ground track parameter query	Ground Track Parameter Query
0x700F	Controller response	Ground Track Parameter Response
0x7012	External axis settings interface, current position query, teach pendant	External Axis Current Position Query
0x7013	Reset point settings interface, controller receives current position query	External Axis Current Position Response
0x7015	Set dual-robot collaboration enable command	Dual-Robot Collaboration Enable Set
0x7016	Get collaboration status	Collaboration Status Get
0x7017	Response collaboration status	Collaboration Status Response
0x7021	External axis joint parameter set, send the following command	External Axis Joint Parameter Set
0x7022	Joint parameter query, send the following command	External Axis Joint Parameter Query
0x7023	Joint parameter response, send the following command	External Axis Joint Parameter Response
0x7024	External axis jog joint speed set, send the following command	External Axis Jog Speed Set
0x7025	External axis jog joint speed query	External Axis Jog Speed Query
0x7026	External axis jog joint speed parameter response, send the following command	External Axis Jog Speed Response
0x7027	Encoder multi-turn value overflow count function set	External Axis Encoder Overflow Set
0x7028	Query	External Axis Encoder Overflow Query
0x7029	Response	External Axis Encoder Overflow Response
0x7031	External axis zero point parameter set, send the following command	External Axis Zero Point Parameter Set
0x7033	Controller returns after zero point set successfully	External Axis Zero Point Set Response
0x7034	External axis zero point offset	External Axis Zero Point Offset
0x7035	External axis single-turn value set, send command	External Axis Single-Turn Value Set
0x7041	External axis calibration result set	External Axis Calibration Result Set
0x7042	External axis calibration result query	External Axis Calibration Result Query
0x7043	External axis calibration result response	External Axis Calibration Result Response

69. Point Calibration

Command Word	Function	Function Type
0x7101	After 20 points are calibrated, send calibration data	Point Calibration
0x7102	Calibration point data	Point Calibration Data
0x7103	Return calibration point data	Point Calibration Data Response
0x7104	When calibration calculation is complete	Point Calibration Calculation Complete
0x7105	Set calibration result as zero point	Point Calibration Set Zero Point
0x7106	Success	Point Calibration Success
0x7107	When querying calibration point status	Point Calibration Status Query
0x7108	Return calibration point status	Point Calibration Status Response
0x7109	Clear calibration status	Clear Point Calibration Status
0x710A	When querying calibrated point data	Calibrated Point Query
0x710B	Return calibrated point data	Calibrated Point Response
0x710C	Receive point calibration data for a robot number and execute MOVJ	Point Calibration Data Execution

70. Rod Length Calibration

Command Word	Function	Function Type
0x7201	After 4 points are calibrated, send calibration data. Set distance input value, calculate and return result	Rod Length Calibration
0x7202	Query calibration point data	Rod Length Calibration Point Query
0x7203	Return calibration point data	Rod Length Calibration Point Response
0x7204	Send the following command when calculation is complete	Rod Length Calculation Complete
0x7205	Rod length calibration response	Rod Length Calibration Response
0x7206	Rod length calibration set	Rod Length Calibration Set

71. 3D Mouse Control

Command Word	Function	Function Type
0x7301	3D mouse control	3D Mouse Control
0x7302	3D mouse parameter set	3D Mouse Parameter Set
0x7303	3D mouse parameter query	3D Mouse Parameter Query
0x7304	3D mouse parameter response	3D Mouse Parameter Response
0x7305	3D mouse enable set	3D Mouse Enable Set
0x7306	3D mouse enable query	3D Mouse Enable Query
0x7307	3D mouse enable response	3D Mouse Enable Response
0x7308	3D mouse position get	3D Mouse Position Get
0x7309	3D mouse position response	3D Mouse Position Response
0x730A	3D mouse button status	3D Mouse Button Status

72. Dynamics Related

Command Word	Function	Function Type
0x7401	Dynamics parameter set	Dynamics Related
0x7402	Dynamics parameter query	Dynamics Parameter Query
0x7403	Dynamics parameter response	Dynamics Parameter Response
0x7404	Dynamics model set	Dynamics Model Set
0x7405	Dynamics model query	Dynamics Model Query
0x7406	Dynamics model response	Dynamics Model Response
0x7407	Dynamics parameter enable	Dynamics Parameter Enable
0x7408	Dynamics parameter enable query	Dynamics Parameter Enable Query
0x7409	Dynamics parameter enable response	Dynamics Parameter Enable Response
0x740A	Dynamics calculation	Dynamics Calculation
0x740B	Dynamics calculation response	Dynamics Calculation Response
0x740C	Torque feedforward set	Torque Feedforward
0x740D	Torque feedforward query	Torque Feedforward Query
0x740E	Torque feedforward response	Torque Feedforward Response

73. Drag Related

Command Word	Function	Function Type
0x7501	Drag parameter set	Drag Related
0x7502	Drag parameter query	Drag Parameter Query
0x7503	Drag parameter response	Drag Parameter Response
0x7504	Drag mode set	Drag Mode Set
0x7505	Drag mode query	Drag Mode Query
0x7506	Drag mode response	Drag Mode Response

74. Identification Related

Command Word	Function	Function Type
0x7601	Identification parameter set	Identification Related
0x7602	Identification parameter query	Identification Parameter Query
0x7603	Identification parameter response	Identification Parameter Response
0x7604	Identification start	Identification Start
0x7605	Identification stop	Identification Stop
0x7606	Identification status	Identification Status
0x7607	Identification result	Identification Result
0x7608	Identification result response	Identification Result Response
0x7609	Identification enable	Identification Enable
0x760A	Identification enable response	Identification Enable Response

75. Teco Related Parameters

Command Word	Function	Function Type
0x7701	Teco parameter set	Teco Related Parameters
0x7702	Teco parameter query	Teco Parameter Query
0x7703	Teco parameter response	Teco Parameter Response
0x7704	Teco model set	Teco Model Set
0x7705	Teco model query	Teco Model Query
0x7706	Teco model response	Teco Model Response
0x7707	Teco enable set	Teco Enable Set
0x7708	Teco enable query	Teco Enable Query
0x7709	Teco enable response	Teco Enable Response
0x770B	Teco status query	Teco Status Query
0x770C	Teco status response	Teco Status Response

76. Extended Functions

Command Word	Function	Function Type
0x7801	Extended functions	Extended Functions