System

Status

Query Initialization Status

The system needs to be initialized upon startup, otherwise the system will not be usable.

Command: 0x1000

• No data needs to be sent

Controller Reply

Command: 0x1001

Field	Type	Description
finishinit	bool	Whether initialization is complete; true means complete, false means not complete

{
  "finishinit": true
}

Query Whether It Is a T5 System

Command: 0x1002

• No data needs to be sent

Controller Reply

Command: 0x1003

Field	Type	Description
T5_system	bool	Whether it is a T5 system; true means yes, false means no

{
  "T5_system": false
}

Query Hardware System Release Version

Command: 0x1004

• No data needs to be sent

Controller Reply

Command: 0x1005

Field	Type	Description
result	bool	Whether the query was successful; true means success, false means failure
version	string	Version number (returned if the query is successful)

{
  "result": true,
  "version": "xx"
}

Version Upgrade

When the system starts up, the current version number needs to be queried. If a mismatch is found, a version upgrade is required.

Query Current System Version Number

Command: 0x1010

Field	Type	Description
version	string	Version number content

{
  "version": "v1.0-rc1-67-gf34dae7"
}

Controller Reply

Command: 0x1011

Field	Type	Description
configFileVersionMismatch	bool	Whether the configuration file matches; false means mismatch, true means match
jobFileVersion	string	Job file version
rtlVersion	string	Controller version
sysClock	string	System clock, format like "2023.11.10 13:29:25"
version	string	Version number content; if the version sent during the query is an empty string, the same content is returned

{
  "configFileVersionMismatch": false,
  "jobFileVersion": "5.2.0",
  "rtlVersion": "22.08.0",
  "sysClock": "2023.11.10 13:29:25",
  "version": "v1.0-rc1-67-gf34dae7"
}

Log

Query Crash Log Files

Command: 0x1020

• No data needs to be sent

Controller Reply

Command: 0x1021

Field	Type	Description
absolutepath	string	Path
dumpLogfilenum	int	Number of files
dumpLogfilelist	string[]	Log file list

{
  "absolutepath": "",
  "dumpLogfilenum": 3,
  "dumpLogfilelist": ["", "", "", ""]
}

Request Log File List

Command: 0x1022

Field	Type	Description
num	int	Number of recent files to retrieve; can be 5, 30, or 100

{
  "num": 5
}

Controller Reply

Command: 0x1023

Field	Type	Description
absolutepath	string	Log directory path
logfilenum	int	Number of logs (may not equal num)
logfilelist	string[]	Log list

{
  "absolutepath": "log/",
  "logfilenum": 3,
  "logfilelist": ["logInfo.0", "logInfo.1", "logInfo.2"]
}

Factory Reset

Command: 0x1030

Field	Type	Description
clearFactoryIO	bool	Clear all IOs; true means clear, false means not cleared
clearFactoryRobot	bool	Clear all robots; true means clear, false means not cleared
clearFactoryToolhand	bool	Clear all tool hands; true means clear, false means not cleared
clearConfigFile	bool	Clear all system configuration files; true means clear, false means not cleared
clearExtendedFile	bool	Clear all extended files; true means clear, false means not cleared

{
  "clearFactoryIO": true,
  "clearFactoryRobot": true,
  "clearFactoryToolhand": true,
  "clearConfigFile": true,
  "clearExtendedFile": true
}

Restart, Shutdown

Restart Controller

Command: 0x1031

• No data needs to be sent

Shutdown

Command: 0x1032

• No data needs to be sent

Query Power Loss Recovery Status

Command: 0x1033

• No data needs to be sent

Controller Reply

Command: 0x1034

Field	Type	Description
rebootKeepRecoveryFlag	bool	Power loss recovery flag; true means recovery successful, false means power loss recovery was not performed
rebootKeepJobFileName	string	Program name for power loss recovery; the first character of the program name must not be a digit

{
  "rebootKeepRecoveryFlag": false,
  "rebootKeepJobFileName": "xxxx"
}

IP Settings

Controller IP Settings

Command: 0x1040

Field	Type	Description
name	string	Network interface name
address	string	Controller IP address
gateway	string	Controller gateway
dns	string	Controller DNS

{
  "name": "p1p1",
  "address": "192.168.1.13",
  "gateway": "192.168.1.1",
  "dns": "114.114.114.114"
}

Query Connected IP

Command: 0x1041

• No data needs to be sent

Controller Reply

Command: 0x1042

Field	Type	Description
num	int	Number of network interfaces
network	array	Network information list
network[].name	string	Network interface name
network[].address	string	Controller IP
network[].gateway	string	Controller gateway
network[].dns	string	Controller DNS

{
  "num": 2,
  "network": [
    {
      "name": "p1p1",
      "address": "192.168.1.13",
      "gateway": "192.168.1.1",
      "dns": "114.114.114.114"
    },
    {
      "name": "p2p1",
      "address": "192.168.1.14",
      "gateway": "192.168.1.1",
      "dns": "114.114.114.114"
    }
  ]
}

Time Settings

Send Time Query

Command: 0x1050

Field	Type	Description
type	int	Time type: 0 for real time, 1 for seconds elapsed since system start
format	int	Format: 0 for timestamp, 1 for Beijing time

{
  "type": 0,
  "format": 0
}

Controller Reply

Command: 0x1051

Field	Type	Description
tType	int	Time type: 0 for real time, 1 for seconds elapsed since system start
format	int	Format: 0 for timestamp, 1 for Beijing time
date	object	Date and time information
date.year	int	Year
date.mon	int	Month
date.day	int	Day
date.hour	int	Hour
date.min	int	Minute
date.sec	int	Second
date.msec	int	Millisecond
timestamp	object	Timestamp (displayed when format is 0)
timestamp.s	int	Timestamp seconds
timestamp.ns	int	Timestamp nanoseconds

{
  "tType": 0,
  "format": 0,
  "date": {
    "year": 2023,
    "mon": 1,
    "day": 1,
    "hour": 1,
    "min": 1,
    "sec": 1,
    "msec": 1
  },
  "timestamp": {
    "s": 1,
    "ns": 1
  }
}

Query Language Support

Command: 0x1052

• No data needs to be sent

Controller Reply

Command: 0x1053

Field	Type	Description
language	string[]	All languages supported by the controller; currently supports: Chinese, Korean, English
language_used	string	Language currently used by the controller

{
  "language": ["Chinese", "Korean", "English"],
  "language_used": "Chinese"
}

Query Host Computer Current Language

Command: 0x1054

Field	Type	Description
teachbox_language	string	Current language used by the host computer

{
  "teachbox_language": "Chinese"
}

System Maintenance

System Maintenance Query

Command: 0x1060

• No data needs to be sent

Controller Reply

Command: 0x1061

Field	Type	Description
controller_ID	string	Controller ID
controller_total_time	int	Total controller power-on time, in hours
controller_spent_time	int	Time since last controller maintenance, in hours
controller_cycle_time	int	Controller maintenance interval cycle, in hours
robot_total_time	int	Total robot power-on time, in hours
robot_spent_time	int	Time since last robot maintenance, in hours
robot_cycle_time	int	Robot maintenance interval cycle, in hours

{
  "controller_ID": "4DC9F0249098C82E",
  "controller_total_time": 0,
  "controller_spent_time": 0,
  "controller_cycle_time": 0,
  "robot_total_time": 0,
  "robot_spent_time": 0,
  "robot_cycle_time": 0
}

System Maintenance Reminder

Command: 0x1062

Field	Type	Description
exist	bool	Whether the maintenance file exists; true means exists, false means does not exist
controlTimeStatus	bool	Controller maintenance status; true means maintenance needed, false means no maintenance needed
robotTimeStatus	bool	Robot maintenance status; true means maintenance needed, false means no maintenance needed

{
  "exist": true,
  "controlTimeStatus": true,
  "robotTimeStatus": true
}

File

Query Controller Configuration File Directory

Command: 0x1070

Field	Type	Description
isExport	bool	Import/export configuration; true means export configuration, false means import configuration

{
  "isExport": true
}

Controller Reply

Command: 0x1071

Field	Type	Description
filelist	string[]	Configuration file name list
filenum	int	Number of configuration files

{
  "filelist": ["xxx.json", "yyy.json"],
  "filenum": 2
}

System Backup

Query Whether Teach Pendant Program for Current Version Exists

Command: 0x1090

Field	Type	Description
config_md5	string	MD5 value of config.db file
pinyin_md5	string	MD5 value of Pinyin.db file; null means the file does not exist or its size is 0
pro_md5	string	MD5 value of the teach pendant program file
pro_name	string	Name of the teach pendant program file; optional Qt-tp or T30_ARM_Linux_Teach-pendant

{
  "config_md5": "2803f92ecdecfd3c178b0998b9391a4d",
  "pinyin_md5": "null",
  "pro_md5": "ce407851346d030dad5207948f55ed6c",
  "pro_name": "Qt-tp"
}

Controller Reply

Command: 0x1091

Field	Type	Description
path	object	File path information
path.config	string	config.db file upload path
path.dir	string	Path for all files
path.pinyin	string	Pinyin.db file upload path; empty string means no upload needed
path.pro	string	Qt-tp file upload path

{
  "path": {
    "config": "qttpBackup/rtl-24.03.07-6.0.9-1.0.6",
    "dir": "qttpBackup/rtl-24.03.07-6.0.9-1.0.6",
    "pinyin": "",
    "pro": "qttpBackup/rtl-24.03.07-6.0.9-1.0.6"
  }
}

Query Whether Teach Pendant Program Matching Controller Version Exists

Command: 0x1092

Field	Type	Description
pro_name	string	Teach pendant program name; optional Qt-tp or T30_ARM_Linux_Teach-pendant

{
  "pro_name": "Qt-tp"
}

Controller Reply

Command: 0x1093

Field	Type	Description
backuppath	string	Backup path

Request Backup Program File

Command: 0x1094

Field	Type	Description
backup_dir	string	Original path of the backup file
pro_name	string	Program name; Qt-tp or T30_ARM_Linux_Teach-pendant

{
  "backup_dir": "qttpBackup/rtl-24.03.07-6.0.9-1.0.6",
  "pro_name": "Qt-tp"
}

Controller Reply

Command: 0x1095

Field	Type	Description
backuppath	string	Auto backup path

{
  "backuppath": ""
}

Request Auto Backup

Command: 0x1096

• No data needs to be sent

Controller Reply

Command: 0x1097

Field	Type	Description
backUpNum	int	Number of backup systems; up to 10
backUpName	string[]	Names of backup systems

{
  "backUpNum": 1,
  "backUpName": ["string", "string", "string..."]
}

Request System Recovery

Command: 0x1098

Field	Type	Description
backUpOneName	string	Name of the system to recover

{
  "backUpOneName": "xxxx"
}

Controller Reply

Command: 0x1099

Field	Type	Description
success	bool	Whether system recovery was successful; true means success, false means failure
backUpName	string[]	Names of backup systems; up to 10

{
  "success": true
}

Save Manufacturer Parameters

Command: 0x109A

• No data needs to be sent

Controller Reply

Command: 0x109B

Field	Type	Description
success	bool	Whether the save was successful; true means success, false means failure

{
  "success": true
}

License Key

System Restriction Settings

Command: 0x10B0

Field	Type	Description
pallet	bool	Set palletizing function restriction
welding	bool	Set welding function restriction
laserCut	bool	Set laser cutting function restriction
polish	bool	Set polishing function restriction
spray	bool	Set spraying function restriction
search	bool	Set search function restriction
vision	bool	Set vision function restriction
conveyor	bool	Set conveyor function restriction
clear_data	bool	Clear data

{
  "pallet": true,
  "welding": true,
  "laserCut": true,
  "polish": true,
  "spray": true,
  "search": true,
  "vision": true,
  "conveyor": true,
  "clear_data": true
}

Query Controller Function Restrictions

Command: 0x10B1

• No data needs to be sent

Controller Reply

Command: 0x10B2

Field	Type	Description
maxRobotCount	int	Maximum number of robots
crafts	string[]	List of unlocked crafts
robotTypes	string[]	List of unlocked robot types

Craft type values:

• C_Pallet: Palletizing craft
• C_Welding: Welding craft
• C_Lasercut: Laser cutting craft
• C_Polish: Polishing craft
• C_Spray: Spraying craft
• C_Search: Search tracking craft
• C_Vision: Vision craft

Robot type values:

• R_NULL: No robot type selected
• R_GENERAL_6S: Six-axis serial multi-joint
• R_GENERAL_6S_1: Six-axis collaborative
• R_SIXAXIS_SPRAY_BBR: Six-axis spray robot
• R_GENERAL_6S_2: Six-axis special type 2
• R_GENERAL_5S: Five-axis robot
• R_SCARA: Four-axis SCARA robot
• R_SCARA_1: Four-axis SCARA special type 1 robot
• R_FOURAXIS_PALLET: Four-axis linkage palletizing robot
• R_FOURAXIS_PALLET_1: Four-axis palletizing lead screw robot
• R_FOURAXIS: Four-axis robot
• R_FOUR_CARTESIAN_COORDINATE: Four-axis Cartesian robot
• R_FOUR_POLAR_COORDINATE_1: Four-axis polar coordinate special robot
• R_SCARA_THREEAXIS: Three-axis SCARA robot
• R_THREE_CARTESIAN_COORDINATE: Three-axis Cartesian robot
• R_THREE_CARTESIAN_COORDINATE_1: Three-axis special type 1 robot
• R_SCARA_TWOAXIS: Two-axis SCARA robot
• R_GENERAL_7S: Seven-axis general robot
• R_GENERAL_1S: One-axis robot
• R_GANTRY_WELD: Five-axis gantry welding robot
• R_DELTA: Delta robot (four-axis parallel robot)
• R_WINE_CHAMFER: Wine tank model
• R_GANTRY_WELD_2: Five-axis gantry welding robot type 2
• R_FOUR_CARTESIAN_COORDINATE_1: Four-axis Cartesian special type 1 robot
• R_GANTRY_WELD_6: Six-axis gantry welding robot
• FIVE_AXLE_MIXED: Five-axis hybrid robot
• R_SCARA_FOURAXIS_2: Four-axis SCARA special type 2
• R_SIX_AXLE_ABNORMITY_3: Six-axis special type 3
• R_SCARA_THREEAXIS_1: Three-axis SCARA special type 1
• R_DELTA_2D_: Delta 2D parallel robot model
• R_GANTRY_WELD_3: Five-axis gantry welding robot type 3
• R_GENERAL_3S_1: Three-axis serial special type 1
• R_GENERAL_5S_COLLABORATIVE_: Five-axis collaborative robot
• R_SCARA_3_: Four-axis SCARA special type 3 robot
• R_GENERAL_6S_CBBARA_: Six-axis serial-CBBARA
• R_HEAVY_DUTY_FOUR_AXIS_: Heavy-duty column rotary four-axis

{
  "crafts": [
    "C_Pallet",
    "C_Welding",
    "C_Lasercut",
    "C_Polish",
    "C_Spray",
    "C_Search",
    "C_Vision"
  ],
  "maxRobotCount": 4,
  "robotTypes": [
    "R_GENERAL_6S",
    "R_SCARA",
    "R_FOURAXIS_PALLET",
    "R_FOURAXIS",
    "R_GENERAL_1S",
    "R_GENERAL_5S",
    "R_GENERAL_6S_1",
    "R_SCARA_TWOAXIS",
    "R_SCARA_THREEAXIS",
    "R_THREE_CARTESIAN_COORDINATE",
    "R_THREE_CARTESIAN_COORDINATE_1",
    "R_GENERAL_7S",
    "R_SCARA_1",
    "R_FOURAXIS_PALLET_1",
    "R_SIXAXIS_SPRAY_BBR",
    "R_FOUR_CARTESIAN_COORDINATE",
    "R_FOUR_POLAR_COORDINATE_1",
    "R_GENERAL_6S_2",
    "R_GANTRY_WELD",
    "R_DELTA",
    "R_WINE_CHAMFER",
    "R_GANTRY_WELD_2",
    "R_FOUR_CARTESIAN_COORDINATE_1",
    "R_GANTRY_WELD_6",
    "FIVE_AXLE_MIXED",
    "R_SCARA_FOURAXIS_2",
    "R_SIX_AXLE_ABNORMITY_3",
    "R_SCARA_THREEAXIS_1",
    "R_DELTA_2D_",
    "R_GANTRY_WELD_3",
    "R_GENERAL_3S_1",
    "R_GENERAL_5S_COLLABORATIVE_",
    "R_SCARA_3_"
  ]
}

Query Controller ID

Command: 0x10B3

• No data needs to be sent

Controller Reply

Command: 0x10B4

Field	Type	Description
controllerID	string	Controller ID

{
  "controllerID": "4DC9F0249098C82E"
}

Note: After obtaining the connected controller ID, when synchronizing job files, you need to determine whether this ID is known. If known, check whether the path "dir/controllerID" exists. If it exists, do nothing; if it does not exist, create the working file path in the format: "dir/controllerID/robotJob/R1". For multiple robots, use R1-4.

Get Controller Remaining Usage Days

Command: 0x10B5

• No data needs to be sent

Controller Reply

Command: 0x10B6

Field	Type	Description
restdays	int	Remaining usage days; -1 means unlimited, 0 means expired, other values indicate remaining days
year	int	Expiration year
mon	int	Expiration month
day	int	Expiration day

{
  "restdays": 30,
  "year": 1,
  "mon": 1,
  "day": 1
}

Controller Sends Remaining Usage Days

Command: 0x10B7

Field	Type	Description
restDays	int	Remaining usage days

{
  "restDays": 0
}

Controller Serial Number Update

Command: 0x10B8

Field	Type	Description
license	string	Controller serial number

{
  "license": "ACOCWKBZHSKBEJHI"
}

Controller Reply

Command: 0x10B9

Field	Type	Description
result	string	Update result; "success" means success, "ivalid" means invalid key, "notInit" means not initialized
ivalid	string	Invalid key
error	string	Suspected tampering detected; unlocking refused

{
  "result": "success",
  "ivalid": "Invalid key!",
  "error": "Suspected tampering detected; unlocking refused!"
}

After the license key is successfully updated, the controller will restart.

Controller Unauthorized Usage Information

Command: 0x10BA

Field	Type	Description
reason	string	Reason for controller unauthorized usage

{
  "reason": ""
}

Get Controller Basic Information

Command: 0x10C0

• No data needs to be sent

Controller Reply

Command: 0x10C1

Field	Type	Description
controllerID	string	Controller ID
controllerModel	string	Controller model

{
  "controllerID": "1234567890ABCDEF",
  "controllerModel": "C2201"
}

Get Supported Robot Types and Crafts

Command: 0x10C2

• No data needs to be sent

Controller Reply

Command: 0x10C3

Field	Type	Description
maxRobotSum	int	Maximum total number of robots, range [0,4]
robotTypeEn	string[]	Supported robot types in English
robotTypeCn	string[]	Supported robot types in Chinese
craftTypeEn	string[]	Supported crafts in English
craftTypeCn	string[]	Supported crafts in Chinese

{
  "maxRobotSum": 4,
  "robotTypeEn": ["RobotA", "RobotB"],
  "robotTypeCn": ["RobotA", "RobotB"],
  "craftTypeEn": ["pallet", "weld"],
  "craftTypeCn": ["Palletizing", "Welding"]
}

Get Controller Authorization Information

Command: 0x10C4

• No data needs to be sent

Controller Reply

Command: 0x10C5

Field	Type	Description
isInit	bool	Whether initialized
expirationDate	object	Expiration date
expirationDate.year	int	Expiration year
expirationDate.month	int	Expiration month
expirationDate.day	int	Expiration day
maxRobotSum	int	Maximum number of robots, range [0,4]
robotType	string[]	Robot types
craftType	string[]	Craft types

{
  "isInit": true,
  "expirationDate": {
    "year": 2038,
    "month": 1,
    "day": 31
  },
  "maxRobotSum": 4,
  "robotType": ["RobotA", "RobotB"],
  "craftType": ["pallet", "weld"]
}

Transmit Initialization Key

Command: 0x10C6

Field	Type	Description
permissionType	string	Permission type
license	string	License key

{
  "permissionType": "01",
  "license": "DSFPSKDGSJDFSGDSGJDSDF"
}

Controller Reply

Command: 0x10C7

Field	Type	Description
result	string	Key result; "success" means success, "ivalid" means invalid key, "deviceAbnormal" means controller abnormal
data	string	Controller data

{
  "result": "success",
  "data": "123ABC"
}

Transmit Decryption Key

Command: 0x10C8

Field	Type	Description
license	string	License key

{
  "license": "DSFPSKDGSJDFSGDSGJDSDF"
}

Controller Reply

Command: 0x10C9

Field	Type	Description
result	string	Result; "success" means success, "ivalid" means invalid key, "notInit" means not initialized

{
  "result": "success"
}

Get Offline Permission File Content

Command: 0x10CA

• No data needs to be sent

Controller Reply

Command: 0x10CB

Field	Type	Description
data	string	Permission file content

{
  "data": "xxxxxxxx"
}