Port 7000 Protocol

Overview

Data Frame Structure

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

Communication Protocol Configuration

Port 7000 supports both TCP and UDP communication protocols. By entering the controller backend and modifying the configuration file config/controller.json, under the hostComputerService node:

• socketType: socket type, can be "TCP" or "UDP", default is "TCP"
• checkCRC: whether to perform CRC check; when false, CRC is not checked (but the 4 bytes occupied by CRC still need to be sent), default is true

Status queries can be set to UDP communication for data retrieval, with a minimum cycle of 1ms.

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Command Overview

Command	Direction	Function
0x1E00	Host computer → Controller	Query status
0x1E01	Controller → Host computer	Query status reply
0x1E02	Host computer → Controller	Motion control
0x1E03	Controller → Host computer	Motion control reply
0x1E04	Host computer → Controller	Variable, IO control
0x1E10	Host computer → Controller	Servo on/off point motion control
0x1E11	Controller → Host computer	Servo on/off point motion control reply
0x1E12	Host computer → Controller	Point transmission
0x1E13	Controller → Host computer	Point transmission reply

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1. Query Status (0x1E00)

Request Field Description

Field	Type	Description
channel	int	Channel; up to 9 channels, default is 1
stop	int	Stop sending; when 1, stops previous continuous sending; the data below can be omitted
robot	int	Robot number; range [1, 4]
mode	int	Request reply mode; 0: on-demand (one reply per request), 1: continuous (continuous reply after one request)
interval	int	Continuous reply interval (ms); only valid when mode=1, range [1, 60000]
queryType	string[]	List of runtime parameters to query; omit those not needed
typeCfg	object	Query content configuration; only valid when querying related type data

queryType Available Values

Value	Description
realPosACS	Real-time coordinate position (joint coordinate system)
realPosMCS	Real-time coordinate position (Cartesian coordinate system)
realPosPCS	Real-time coordinate position (tool coordinate system)
realPosUCS	Real-time coordinate position (user coordinate system)
axisVel	Axis velocity
axisAcc	Axis acceleration
torque	Torque
electric	Current
numGVar	Numeric variables
IO	IO ports
serialNum	Serial number
runControlPosRunNum	Number of points already executed in the current trajectory of motion control
detailedMotionPos	Detailed motion points (each robot supports only one channel query at the same time)

typeCfg Configuration Description

• numGVar: Query global variables (int type), e.g., ["GD001", "GA001", "GI001", "GI333"]
• IO: Query IO ports (string type), e.g., ["DI1", "DI16", "DO1", "DO3", "DO17"]; if the queried IO does not exist, returns -1; the maximum number that can be queried should not exceed the number of IOs
• detailedMotionPos:
  • num: Number of points replied per data frame (int)
  • optional: Optional parameters (string[]), can be "ACS", "MCS", "time", "reset"

Request Example

{
  "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"]
    }
  }
}

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2. Query Status Reply (0x1E01)

Reply Field Description

Field	Type	Description
channel	int	Channel; up to 9 channels
robot	int	Robot number; range [1, 4]
replyData	object	Reply query results; items not queried will not be replied

Coordinate Data Description

Coordinate format: Robot (first 7) + External axes (last 5)

• Without external axes, the number of coordinates equals the number of axes
• With external axes, the number of coordinates is 7 + number of external axes

replyData Field Details

Field	Description
realPosACS	Real-time coordinate position (joint coordinate system), float array
realPosMCS	Real-time coordinate position (Cartesian coordinate system), float array
realPosPCS	Real-time coordinate position (tool coordinate system), float array
realPosUCS	Real-time coordinate position (user coordinate system), float array
axisVel	Axis velocity, float array
axisAcc	Axis acceleration, float array
torque	Torque, float array
electric	Current, float array
numGVar	Global variable key-value pairs, e.g., {"GD001": 0.1, "GA001": true, "GI001": 33}
IO	IO status key-value pairs, e.g., {"DI1": 1, "DO1": 0}; if IO does not exist, returns -1
runControlPosRunNum	Number of points already executed in the current trajectory of motion control
serialNum	Serial number; increments by 1 for each reply, each channel is independent
detailedMotionPos	Detailed motion points

detailedMotionPos Details

• num: Number of points replied per data frame (int)
• data: Point array, each point contains:
  • ACS: Joint coordinates, float array
  • MCS: Cartesian coordinates, float array
  • time: Timestamp [seconds, nanoseconds], e.g., [123456, 654321]

Reply Example

{
  "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]
        }
      ]
    }
  }
}

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3. Motion Control (0x1E02)

Request Field Description

Field	Type	Description
robot	int	Robot number; range [1, 4]
clearBuffer	int	Clear motion trajectory buffer queue; 1: clear (does not affect data currently being transmitted), can be omitted when 0
targetMode	int	Motion mode; 0: independent point, 1: continuous trajectory
sendMode	int	0: transmit all trajectory points at once, 1: transmit partial points each time
runMode	int	Valid only when transmitting partial points each time; 0: receive complete trajectory before moving, 1: move while receiving
end	int	1: stop previous continuous transmission; the data below can be omitted; can be omitted when 0
sum	int	Valid only for "receive complete trajectory before moving"; total number of frames to send
count	int	Valid only for "receive complete trajectory before moving"; current frame number
cfg	object	Motion configuration (only needs to be set for the first frame, and only valid for the first frame)
targetPos	float[]	Single target point (using this field only moves to one target point)
targetVec	object[]	Multiple target points (traverse all points in order; when both targetPos and targetVec exist, only targetPos takes effect)

cfg Field Details

Field	Type	Description
coord	string	Coordinate system, e.g., "ACS"
extMove	int	Whether there is external axis motion; 1: yes, 0 or omitted: no
sync	int	Whether external axes are synchronized; 0 or omitted: not synchronized, 1: synchronized
speed	int	Speed setting; uses default value if omitted
acc	int	Acceleration setting; uses default value if omitted
pl	int	Defaults to 5 if omitted; only valid for "independent point" with targetVec
moveMode	string	Motion mode; can be "TeachSet", "MOVJ", "MOVL", "MOVS", default "TeachSet"; only valid for "independent point" with targetVec
timeout	int	Timeout (ms); no timeout check if omitted, range 10–10000; only valid for "receive complete trajectory before moving"

Example 1: Independent Point · Transmit All Points at Once

{
  "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]}
  ]
  // When both targetPos and targetVec exist, only targetPos takes effect
}

Example 2: Independent Point · Transmit Partial Points Each Time · Receive Complete Trajectory Before Moving

{
  "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]}
  ]
}

Example 3: Continuous Trajectory · Transmit All Points 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
    }
  ]
}

timeStamp: Time relative to the start point when reaching this point (ms)

Example 4: Continuous Trajectory · Transmit Partial Points Each Time · Receive Complete Trajectory Before Moving

{
  "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
    }
  ]
}

---

4. Motion Control Reply (0x1E03)

Reply Field Description

Field	Type	Description
robot	int	Robot number; range [1, 4]
success	bool	true: success, false: failure
size	int	Current number of trajectories in the motion trajectory buffer queue; only present when success=true
cause	string	Failure reason (empty when successful)

cause Failure Reasons

Value	Description
"busy"	There is data currently being transmitted that has not completed
"timeout"	Reception timeout
"dataErr"	Data error
"termination"	The sender terminated the data being transmitted

Reply Example

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

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5. Variable, IO Control (0x1E04)

Request Field Description

Field	Type	Description
numGVar	object	Set variables; GA is bool type, GI is int type, GD is double type
IO	object	Set IO ports; 1/0 indicates IO port status

Request Example

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

---

6. Servo On/Off Point Motion Control (0x1E10)

Note: This function cannot be used simultaneously with the "Motion Control" function (0x1E02).

Request Field Description

Field	Type	Description
robot	int	Robot number; range [1, 4]
switch	bool	true: on, false: off

Request Example

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

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7. Servo On/Off Point Motion Control Reply (0x1E11)

Reply Field Description

Field	Type	Description
success	bool	true: success, false: failure
cause	string	Failure reason (empty when successful)

cause Failure Reasons

Value	Description
"busy"	Current channel is occupied
"dataErr"	Data error
"startupErr"	Startup failed

Reply Example

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

---

8. Point Transmission (0x1E12)

Request Field Description

Field	Type	Description
robot	int	Robot number; range [1, 4]
end	int	1: stop previous continuous transmission; the data below can be omitted; can be omitted when 0. 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	float[][]	Point coordinate array; format: robot (first 7) + external axes (last 5)

Request Example

{
  "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]
  ]
}

---

9. Point Transmission Reply (0x1E13)

Reply Field Description

Field	Type	Description
robot	int	Robot number; range [1, 4]
success	bool	true: reception successful, false: reception failed
cause	string	Failure reason (empty when successful)

cause Failure Reasons

Value	Description
"notStart"	Servo point motion control mode is not enabled
"dataErr"	Data error
"termination"	The sender terminated the data being transmitted
"cacheFull"	Buffer is full (maximum buffer is 6 trajectories)

Reply Example

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