Teach Pendant and Host Communication
Heartbeat
Note: Regardless of the communication mode, a heartbeat mechanism should be designed to ensure normal communication status. The teach pendant periodically sends heartbeat check packets to the controller and waits for the controller's response. After receiving the heartbeat packet, the client needs to reply with a heartbeat response packet, whose data is the timestamp carried in the check packet. After receiving the response packet, the teach pendant checks whether the data is correct. If the data is incorrect or no response is received within the timeout, the connection is considered potentially interrupted.
Receive Heartbeat
| Field | Type | Description |
|---|---|---|
| time | int | Timestamp |
Command: 0x1200
{
"time": 123
}Respond Heartbeat
| Field | Type | Description |
|---|---|---|
| time | int | Timestamp |
Command: 0x1201
{
"time": 123
}Teach Pendant Shutdown
Note: Sent when the teach pendant is unplugged
Command: 0x1210
| Field | Type | Description |
|---|---|---|
| date | - | None |
Teach Pendant Startup
Note: Insert the teach pendant to restore communication
Command: 0x1211
| Field | Type | Description |
|---|---|---|
| date | - | None |