DH Parameters

Robot Basic Parameters

Description: Includes setting and querying of robot basic parameters such as DH parameters, joint parameters, and Cartesian parameters

1. Host Sets Current Robot DH Parameters

Command: 0x20C0

1.1 Six-Axis Serial Robot (Dynamic Limit Active When Coupling Exists)

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	0.0	L7 link length, range [-4000,4000]
L8	double	0.0	L8 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio32	double	0.0	3/2 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
couplingRatio45	double	0.0	4/5 coupling ratio, range [-1000,1000]
couplingRatio46	double	0.0	4/6 coupling ratio, range [-1000,1000]
couplingRatio56	double	0.0	5/6 coupling ratio, range [-1000,1000]
fiveAxisDirection	double	90.0	Five-axis direction, range 0,90 degrees
dynamicLimit	object	-	J2+J3 range limit
dynamicLimit.max	double	0.0	J2+J3 maximum, range [-500,500]
dynamicLimit.min	double	0.0	J2+J3 minimum, range [-500,500]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 0.0,
  "L8": 0.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio32": 0.0,
  "couplingRatio34": 0.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "couplingRatio56": 0.0,
  "dynamicLimit": {
    "max": 0.0,
    "min": 0.0
  },
  "fiveAxisDirection": 90.0,
  "mountAngle": false,
  "robot": 1
}

1.2 Six-Axis Collaborative Robot

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	120.0	L7 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio32	double	0.0	3/2 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
couplingRatio45	double	0.0	4/5 coupling ratio, range [-1000,1000]
couplingRatio46	double	0.0	4/6 coupling ratio, range [-1000,1000]
couplingRatio56	double	0.0	5/6 coupling ratio, range [-1000,1000]
threeAxisDirection	double	-90.0	Three-axis direction, range -90,0 degrees
fiveAxisDirection	double	90.0	Five-axis direction, range 0,90 degrees
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 120.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio32": 0.0,
  "couplingRatio34": 0.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "couplingRatio56": 0.0,
  "fiveAxisDirection": 90.0,
  "mountAngle": false,
  "robot": 1,
  "threeAxisDirection": -90.0
}

1.3 Six-Axis Painting Robot

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	0.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	0.0	L7 link length, range [-4000,4000]
L8	double	0.0	L8 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio32	double	0.0	3/2 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
couplingRatio45	double	0.0	4/5 coupling ratio, range [-1000,1000]
couplingRatio46	double	0.0	4/6 coupling ratio, range [-1000,1000]
couplingRatio56	double	0.0	5/6 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 0.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 0.0,
  "L8": 0.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio32": 0.0,
  "couplingRatio34": 0.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "couplingRatio56": 0.0,
  "mountAngle": false,
  "robot": 1
}

1.4 Six-Axis Special Type II

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio32	double	0.0	3/2 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
couplingRatio45	double	0.0	4/5 coupling ratio, range [-1000,1000]
couplingRatio46	double	0.0	4/6 coupling ratio, range [-1000,1000]
couplingRatio56	double	0.0	5/6 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio32": 0.0,
  "couplingRatio34": 0.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "couplingRatio56": 0.0,
  "mountAngle": false,
  "robot": 1
}

1.5 Five-Axis Serial Multi-Joint

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	0.0	L7 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio32	double	0.0	3/2 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
couplingRatio45	double	0.0	4/5 coupling ratio, range [-1000,1000]
couplingRatio46	double	0.0	4/6 coupling ratio, range [-1000,1000]
fiveAxisDirection	double	90.0	Five-axis direction, range 0,90 degrees
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 0.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio32": 0.0,
  "couplingRatio34": 0.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "fiveAxisDirection": 90.0,
  "mountAngle": false,
  "robot": 1
}

1.6 Four-Axis SCARA

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
pitch	double	80.0	Pitch, range [-1000,0),(0,1000]
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio34": 0.0,
  "mountAngle": false,
  "pitch": 80.0,
  "robot": 1
}

1.7 Four-Axis SCARA Special Type 1

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
pitch	double	80.0	Pitch, range [-1000,0),(0,1000]
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "couplingRatio34": 0.0,
  "mountAngle": false,
  "pitch": 80.0,
  "robot": 1
}

1.8 Four-Axis Linkage Palletizing

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	0.0	Offset value, default 0, range [-4000,4000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
maxDynamicLimit	double	0.0	J2+J3 maximum, range [-1000,1000]
minDynamicLimit	double	0.0	J2+J3 minimum, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio34": 0.0,
  "maxDynamicLimit": 0.0,
  "minDynamicLimit": 0.0,
  "mountAngle": false,
  "robot": 1
}

1.9 Four-Axis Palletizing Lead Screw

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
amplificationRatio	double	100.0	Amplification ratio, range [1,1000]
conversionRatio2	double	100.0	Axis 2 conversion ratio, range [1,1000]
conversionRatio3	double	100.0	Axis 3 conversion ratio, range [1,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "amplificationRatio": 100.0,
  "conversionRatio2": 100.0,
  "conversionRatio3": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.10 Four-Axis Serial Multi-Joint

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "couplingRatio23": 0.0,
  "couplingRatio34": 0.0,
  "mountAngle": false,
  "robot": 1
}

1.11 Four-Axis Cartesian Robot

Parameter	Type	Default	Description
conversionRatio_X	double	100.0	X-axis conversion ratio, range [-4000,4000]
conversionRatio_Y	double	100.0	Y-axis conversion ratio, range [-4000,4000]
conversionRatio_Z	double	100.0	Z-axis conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "conversionRatio_X": 100.0,
  "conversionRatio_Y": 100.0,
  "conversionRatio_Z": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.12 Four-Axis Polar Coordinate Special Type

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
conversionRatio2	double	100.0	Axis 2 conversion ratio, range [-4000,4000]
conversionRatio3	double	100.0	Axis 3 conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "conversionRatio2": 100.0,
  "conversionRatio3": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.13 Three-Axis SCARA

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
couplingRatio23	double	0.0	2/3 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
pitch	double	80.0	Pitch, range [-1000,0),(0,1000]
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "mountAngle": false,
  "pitch": 80.0,
  "robot": 1
}

1.14 Three-Axis Cartesian Robot

Parameter	Type	Default	Description
conversionRatio_X	double	100.0	X-axis conversion ratio, range [-4000,4000]
conversionRatio_Y	double	100.0	Y-axis conversion ratio, range [-4000,4000]
conversionRatio_Z	double	100.0	Z-axis conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "conversionRatio_X": 100.0,
  "conversionRatio_Y": 100.0,
  "conversionRatio_Z": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.15 Three-Axis Cartesian Special Type 1

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
conversionRatio2	double	100.0	Axis 2 conversion ratio, range [-4000,4000]
conversionRatio3	double	100.0	Axis 3 conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "conversionRatio2": 100.0,
  "conversionRatio3": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.16 Two-Axis SCARA

Parameter	Type	Default	Description
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L2": 120.0,
  "L3": 120.0,
  "mountAngle": false,
  "robot": 1
}

1.17 Seven-Axis Serial Multi-Joint

Parameter	Type	Default	Description
Link	object	-	DH parameter list
Link.L1	double	120.0	L1 link length, range [-4000,4000]
Link.L2	double	120.0	L2 link length, range [-4000,4000]
Link.L3	double	120.0	L3 link length, range [-4000,4000]
Link.L4	double	120.0	L4 link length, range [-4000,4000]
Link.L5	double	120.0	L5 link length, range [-4000,4000]
Link.L6	double	120.0	L6 link length, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "Link": {
    "L1": 120.0,
    "L2": 120.0,
    "L3": 120.0,
    "L4": 120.0,
    "L5": 120.0,
    "L6": 120.0
  },
  "mountAngle": false,
  "robot": 1
}

1.18 Gantry Welding Model

Parameter	Type	Default	Description
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
conversionRatio_X	double	100.0	X-axis conversion ratio, range [-4000,4000]
conversionRatio_Y	double	100.0	Y-axis conversion ratio, range [-4000,4000]
conversionRatio_Z	double	100.0	Z-axis conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L4": 120.0,
  "L5": 120.0,
  "conversionRatio_X": 100.0,
  "conversionRatio_Y": 100.0,
  "conversionRatio_Z": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.19 Four-Axis Parallel Robot

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	110.0	L2 link length, range [-4000,4000] (must be less than L3)
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 110.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "mountAngle": false,
  "robot": 1
}

1.20 Wine Tank Model

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	120.0	L7 link length, range [-4000,4000]
L8	double	120.0	L8 link length, range [-4000,4000]
L9	double	120.0	L9 link length, range [-4000,4000]
L10	double	120.0	L10 link length, range [-4000,4000]
L11	double	120.0	L11 link length, range [-4000,4000]
L12	double	120.0	Sliding cylinder lead, range [-4000,4000]
L13	double	120.0	Lifting cylinder lead, range [-4000,4000]
L14	double	120.0	Material spray distance, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 120.0,
  "L8": 120.0,
  "L9": 120.0,
  "L10": 120.0,
  "L11": 120.0,
  "L12": 120.0,
  "L13": 120.0,
  "L14": 120.0,
  "mountAngle": false,
  "robot": 1
}

1.21 Gantry Welding 2 Model

Parameter	Type	Default	Description
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
conversionRatio_X	double	100.0	X-axis conversion ratio, range [-4000,4000]
conversionRatio_Y	double	100.0	Y-axis conversion ratio, range [-4000,4000]
conversionRatio_Z	double	100.0	Z-axis conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L4": 120.0,
  "L5": 120.0,
  "conversionRatio_X": 100.0,
  "conversionRatio_Y": 100.0,
  "conversionRatio_Z": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.22 Four-Axis Cartesian Special Type I

Parameter	Type	Default	Description
Link	object	-	DH parameter list
Link.L1	double	120.0	L1 link length, range [-4000,4000]
Link.L2	double	120.0	L2 link length, range [-4000,4000]
Link.conversionRatio	array	[100.0, 100.0]	Axis conversion ratio, range [1,1000], length 2 (axis 1 and axis 4 conversion ratio)
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "Link": {
    "L1": 120.0,
    "L2": 120.0,
    "conversionRatio": [100.0, 100.0]
  },
  "mountAngle": false,
  "robot": 1
}

1.23 Six-Axis Gantry Welding Model

Parameter	Type	Default	Description
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	120.0	L7 link length, range [-4000,4000]
conversionRatio_X	double	100.0	X-axis conversion ratio, range [-4000,4000]
conversionRatio_Y	double	100.0	Y-axis conversion ratio, range [-4000,4000]
conversionRatio_Z	double	100.0	Z-axis conversion ratio, range [-4000,4000]
couplingRatio45	double	0.0	4/5 coupling ratio, range [-1000,1000]
couplingRatio56	double	0.0	5/6 coupling ratio, range [-1000,1000]
fiveAxisDirection	double	0.0	Five-axis direction, range -90,0 degrees (0 is vertical down, -90 is horizontal right)
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 120.0,
  "conversionRatio_X": 100.0,
  "conversionRatio_Y": 100.0,
  "conversionRatio_Z": 100.0,
  "couplingRatio45": 0.0,
  "couplingRatio56": 0.0,
  "fiveAxisDirection": 0.0,
  "mountAngle": false,
  "robot": 1
}

1.24 Five-Axis Hybrid Robot

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	120.0	L7 link length, range [-4000,4000]
L8	double	120.0	L8 link length, range [-4000,4000]
L9	double	0.0	L9 link length, range [-4000,4000]
L10	double	120.0	L10 link length, range [-4000,4000]
conversionratio_J1	double	100.0	Axis 1 conversion ratio, range [-4000,4000]
conversionratio_J2	double	100.0	Axis 2 conversion ratio, range [-4000,4000]
conversionratio_J3	double	100.0	Axis 3 conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 120.0,
  "L8": 120.0,
  "L9": 0.0,
  "L10": 120.0,
  "conversionratio_J1": 100.0,
  "conversionratio_J2": 100.0,
  "conversionratio_J3": 100.0,
  "mountAngle": false,
  "robot": 1
}

1.25 Four-Axis SCARA Special Type 2

Parameter	Type	Default	Description
L1	double	100.0	Axis 1 pitch, range [-1000,0),(0,1000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
couplingRatio34	double	0.0	3/4 coupling ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
pitch	double	80.0	Axis 3 pitch, range [-1000,0),(0,1000]
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 100.0,
  "L2": 120.0,
  "L3": 120.0,
  "couplingRatio34": 0.0,
  "mountAngle": false,
  "pitch": 80.0,
  "robot": 1
}

1.26 Six-Axis Special Type III

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	120.0	L6 link length, range [-4000,4000]
L7	double	120.0	L7 link length, range [-4000,4000]
L8	double	120.0	L8 link length, range [-4000,4000]
L9	double	120.0	L9 link length, range [-4000,4000]
L10	double	120.0	L10 link length, range [-4000,4000]
L11	double	120.0	L11 link length, range [-4000,4000]
L12	double	120.0	L12 link length, range [-4000,4000]
L13	double	120.0	L13 link length, range [-4000,4000]
L14	double	120.0	L14 link length, range [-4000,4000]
L15	double	120.0	L15 link length, range [-4000,4000]
L16	double	120.0	L16 link length, range [-4000,4000]
L17	double	120.0	L17 link length, range [-4000,4000]
L18	double	120.0	L18 link length, range [-4000,4000]
L19	double	120.0	L19 link length, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 120.0,
  "L8": 120.0,
  "L9": 120.0,
  "L10": 120.0,
  "L11": 120.0,
  "L12": 120.0,
  "L13": 120.0,
  "L14": 120.0,
  "L15": 120.0,
  "L16": 120.0,
  "L17": 120.0,
  "L18": 120.0,
  "L19": 120.0,
  "mountAngle": false,
  "robot": 1
}

1.27 Three-Axis SCARA Special Type I

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "mountAngle": false,
  "robot": 1
}

1.28 delta2D Parallel Robot Model

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	110.0	L2 link length, range [-4000,4000] (must be less than L3)
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 110.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "mountAngle": false,
  "robot": 1
}

1.29 Gantry Welding 3 Model

Parameter	Type	Default	Description
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
conversionRatio_X	double	100.0	X-axis conversion ratio, range [-4000,4000]
conversionRatio_Y	double	100.0	Y-axis conversion ratio, range [-4000,4000]
conversionRatio_Z	double	100.0	Z-axis conversion ratio, range [-4000,4000]
threeAxisDirection	double	90.0	Four-axis direction, range 0,90 degrees (when four-axis direction is 0, L4 should be 0)
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L4": 120.0,
  "L5": 120.0,
  "conversionRatio_X": 100.0,
  "conversionRatio_Y": 100.0,
  "conversionRatio_Z": 100.0,
  "mountAngle": false,
  "robot": 1,
  "threeAxisDirection": 90.0
}

1.30 Three-Axis Serial Special Type I

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
threeAxisDirection	double	90.0	Three-axis direction, range 0,90 degrees
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "mountAngle": false,
  "robot": 1,
  "threeAxisDirection": 90.0
}

1.31 Five-Axis Collaborative Robot

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	-120.0	L2 link length, range [-4000,4000] (please enter negative value)
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	-120.0	L6 link length, range [-4000,4000] (please enter negative value)
L7	double	120.0	L7 link length, range [-4000,4000]
L8	double	120.0	L8 link length, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": -120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": -120.0,
  "L7": 120.0,
  "L8": 120.0,
  "mountAngle": false,
  "robot": 1
}

1.32 Four-Axis SCARA Special Type 3

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
couplingRatio12	double	0.0	1/2 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
pitch	double	80.0	Pitch, range [-1000,0),(0,1000]
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "couplingRatio12": 0.0,
  "mountAngle": false,
  "pitch": 80.0,
  "robot": 1
}

1.33 Six-Axis Serial - CBBARA

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	-120.0	L2 link length, range [-4000,4000] (please enter negative value)
L3	double	120.0	L3 link length, range [-4000,4000]
L4	double	120.0	L4 link length, range [-4000,4000]
L5	double	120.0	L5 link length, range [-4000,4000]
L6	double	0.0	L6 link length, range [-4000,4000]
L7	double	0.0	L7 link length, range [-4000,4000]
L8	double	120.0	L8 link length, range [-4000,4000]
couplingRatio45	double	0.0	4/5 coupling ratio, range [-1000,1000]
couplingRatio46	double	0.0	4/6 coupling ratio, range [-1000,1000]
couplingRatio56	double	0.0	5/6 coupling ratio, range [-1000,1000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": -120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 0.0,
  "L7": 0.0,
  "L8": 120.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "couplingRatio56": 0.0,
  "mountAngle": false,
  "robot": 1
}

1.34 GaoGe Column Rotation Four-Axis

Parameter	Type	Default	Description
L1	double	120.0	L1 link length, range [-4000,4000]
L2	double	120.0	L2 link length, range [-4000,4000]
conversionRatio1	double	100.0	Axis 1 conversion ratio, range [-4000,4000]
conversionRatio2	double	100.0	Axis 3 conversion ratio, range [-4000,4000]
mountAngle	bool	false	Robot upright or inverted mounting (false means upright, true means inverted)
robot	int	1	Current robot number, range [1,4]

Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "conversionRatio1": 100.0,
  "conversionRatio2": 100.0,
  "mountAngle": false,
  "robot": 1
}

2. Host Queries Current Robot DH Parameters

Command: 0x20C1

Request Parameters

Parameter	Type	Description
robot	int	Current robot number, range [1,4]

Request Example JSON:

json

{
  "robot": 1
}

3. Controller Replies to Host with Current Robot DH Parameters

Command: 0x20C2

Description: The reply content is similar to the setting content, with additional fields including robotType (robot type), angleToDistance (angle to distance list), distanceToAngle (distance to angle list), etc.

3.1 Six-Axis Serial Robot (robotType: 1)

Parameter	Type	Default	Description
L1~L8	double	-	Link length parameters, same as setting
couplingRatio12~56	double	-	Coupling ratio parameters, same as setting
fiveAxisDirection	double	90.0	Five-axis direction, range 0,90 degrees
dynamicLimit	object	-	J2+J3 range limit
dynamicLimit.max	double	0.0	J2+J3 maximum, range [-500,500]
dynamicLimit.min	double	0.0	J2+J3 minimum, range [-500,500]
mountAngle	bool	false	Robot upright or inverted mounting
robot	int	1	Current robot number, range [1,4]
angleToDistance	array	[1.0,...]	Robot angle to distance list, length is the current robot axis count
angleToDistanceSync	array	[27.775,...]	Robot external axis angle to distance list, length is the total external axis count
distanceToAngle	array	[1.0,...]	Robot distance to angle list, length is the current robot axis count
distanceToAngleSync	array	[0.036,...]	Robot external axis distance to angle list
robotType	int	1	Current robot type

angleToDistanceSync Calculation Formula:

Rotary axis values are all 1
Linear axis formula: 1 * axis direction conversion ratio / 360

distanceToAngleSync Calculation Formula:

Rotary axis values are all 1
Linear axis formula: 1 / axis direction conversion ratio * 360

Response Example JSON:

json

{
  "L1": 120.0,
  "L2": 120.0,
  "L3": 120.0,
  "L4": 120.0,
  "L5": 120.0,
  "L6": 120.0,
  "L7": 0.0,
  "L8": 0.0,
  "couplingRatio12": 0.0,
  "couplingRatio23": 0.0,
  "couplingRatio32": 0.0,
  "couplingRatio34": 0.0,
  "couplingRatio45": 0.0,
  "couplingRatio46": 0.0,
  "couplingRatio56": 0.0,
  "dynamicLimit": {
    "max": 0.0,
    "min": 0.0
  },
  "fiveAxisDirection": 90.0,
  "mountAngle": false,
  "robot": 1,
  "angleToDistance": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
  "angleToDistanceSync": [27.775, 27.775, 1.0],
  "distanceToAngle": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
  "distanceToAngleSync": [0.03600360036, 0.03600360036, 1.0],
  "robotType": 1
}

3.2 Robot Type Reference Table

robotType	Robot Type
1	Six-axis serial robot
2	Four-axis SCARA
3	Four-axis linkage palletizing
4	Four-axis serial multi-joint
6	Five-axis serial multi-joint
7	Six-axis collaborative robot
8	Two-axis SCARA
9	Three-axis SCARA
10	Three-axis Cartesian robot
11	Three-axis Cartesian special type 1
12	Seven-axis serial multi-joint
13	Four-axis SCARA special type 1
14	Four-axis palletizing lead screw
15	Six-axis painting robot
16	Four-axis Cartesian robot
17	Four-axis polar coordinate special type
18	Six-axis special type II
19	Gantry welding model
20	Four-axis parallel robot
21	Wine tank model
22	Gantry welding 2 model
23	Four-axis Cartesian special type I
24	Six-axis gantry welding model
25	Five-axis hybrid robot
26	Four-axis SCARA special type 2
27	Six-axis special type III
28	Three-axis SCARA special type I
29	delta2D parallel robot model
30	Gantry welding 3 model
31	Three-axis serial special type I
32	Five-axis collaborative robot
33	Four-axis SCARA special type 3
34	Six-axis serial - CBBARA
35	GaoGe column rotation four-axis

For other types, the reply JSON structure is similar to the setting structure, with additional angleToDistance, distanceToAngle, and robotType fields.

4. Host Requests to Save Preset Robot Parameters

Command: 0x20C3

Parameter	Type	Description
name	string	Preset robot custom save name

Request Example JSON:

json

{
  "name": "AAA"
}

Preset file format: current robot type + "_" + custom save name

Controller Reply:

json

{}

5. Host Sets Robot Joint Parameters

Command: 0x20C5

Parameter	Type	Default	Description
axis	int	1	Robot axis number, range [1,7]
axisDirection	int	1	Joint actual direction, range [-1,1]
backLash	double	0.0	Gear backlash, range [0,9999.999]
direction	int	-1.0	Model direction, range [-1,1]
encoderResolution	int	17	Encoder resolution bits, range [1,100]
isReduceRatioEnable	bool	true	Whether encoder goes through reducer
maxAcc	double	6.0	Maximum acceleration, range [1,10000]
maxDec	double	-6.0	Maximum deceleration, range [-10000,-1]
maxJerkAcc	double	1.0	Maximum jerk acceleration, range [1,20000] (effective when interpolation mode is jerk)
maxJerkDec	double	-1.0	Maximum jerk deceleration, range [-20000,-1] (effective when interpolation mode is jerk)
maxRPM	double	1.0	Maximum positive speed, range [1,5]
maxReverseRPM	double	-1.0	Maximum reverse speed, range [-5,-1]
positiveLimit	double	160.0	Joint positive limit, range [1,3000]°
ratedRPM	double	3600.0	Rated positive speed, range [1,10000]rpm
ratedReverseRPM	double	-3600.0	Rated reverse speed, range [-10000,-1]rpm (value is the negative of rated positive speed)
ratedReverseSpeed	double	-270.0540	Rated reverse speed, unit °/s (formula: rated reverse speed / reduction ratio * 6 * angle to distance value)
ratedSpeed	double	270.0540	Rated positive speed, unit °/s (formula: rated positive speed / reduction ratio * 6 * angle to distance value)
reducRatio	double	79.9840	Reduction ratio, range (0,1000]
reverseLimit	double	-160.0	Joint reverse limit, range [-3000,-1]°
robot	int	1	Current robot, range [1,4]

Example JSON:

json

{
  "axis": 1,
  "axisDirection": 1,
  "backLash": 0.0,
  "direction": -1.0,
  "encoderResolution": 17,
  "isReduceRatioEnable": true,
  "maxAcc": 6.0,
  "maxDec": -6.0,
  "maxJerkAcc": 1.0,
  "maxJerkDec": -1.0,
  "maxRPM": 1.0,
  "maxReverseRPM": -1.0,
  "positiveLimit": 160.0,
  "ratedRPM": 3600.0,
  "ratedReverseRPM": -3600.0,
  "ratedReverseSpeed": -270.0540,
  "ratedSpeed": 270.0540,
  "reducRatio": 79.9840,
  "reverseLimit": -160.0,
  "robot": 1
}

6. Host Queries Robot Joint Parameters

Command: 0x20C6

Request Parameters

Parameter	Type	Description
axis	int	Robot axis number, range [1,7]

Request Example JSON:

json

{
  "axis": 1
}

Command: 0x20C7 (Controller Reply)

Reply parameters are the same as the setting parameters.

7. Host Sets Robot Cartesian Parameters

Command: 0x20C8

Parameter	Type	Default	Description
maxAcc	double	7.50	Maximum acceleration, range [1,10000]
maxAttitudeVel	double	500.0	Maximum attitude motion speed, range [1,1000]°/s
maxDec	double	-7.50	Maximum deceleration, range [-10000,-1]
maxJerk	double	10000.0	Maximum jerk, range [1,20000]
maxSpeed	double	2000.0	Maximum speed, range [1,5000]mm/s
robot	int	1	Current robot number, range [1,4]
speedLimitMode	int	0	Speed limit mode, range [0,1] (0 means attitude, 1 means position)

Example JSON:

json

{
  "maxAcc": 7.50,
  "maxAttitudeVel": 500.0,
  "maxDec": -7.50,
  "maxJerk": 10000.0,
  "maxSpeed": 2000.0,
  "robot": 1,
  "speedLimitMode": 0
}

8. Host Queries Robot Cartesian Parameters

Command: 0x20C9

Request Parameters

Parameter	Type	Description
robot	int	Current robot number, range [1,4]

Request Example JSON:

json

{
  "robot": 1
}

Command: 0x20CA (Controller Reply)

Reply parameters are the same as the setting parameters.

9. Host Sets Robot Joint Multi-Turn Value Parameters

Command: 0x20CB

Parameter	Type	Description
robot	int	Current robot number, range [1,4]
robotAxis	array	Joint multi-turn value parameter list, length is the current robot axis count

robotAxis Array Element

Parameter	Type	Description
axisSlaveSum	int	Number of slave axes, range [0,3]
enable	int	Encoder multi-turn value overflow count function, range [0,1] (0 disable, 1 enable)
encode	array	Encoder maximum and minimum value list, length is joint slave axis count + 1

encode Array Element

Parameter	Type	Description
max	string	Encoder maximum value, range [-2^32,2^32]
min	string	Encoder minimum value, range [-2^32,2^32] (must not be greater than encoder maximum value)

Example JSON:

json

{
  "robot": 1,
  "robotAxis": [
    {
      "axisSlaveSum": 0,
      "enable": 1,
      "encode": [
        {
          "max": "32768",
          "min": "-32768"
        }
      ]
    },
    {
      "axisSlaveSum": 0,
      "enable": 0,
      "encode": [
        {
          "max": "32768",
          "min": "-32768"
        }
      ]
    },
    {
      "axisSlaveSum": 0,
      "enable": 0,
      "encode": [
        {
          "max": "32768",
          "min": "-32768"
        }
      ]
    },
    {
      "axisSlaveSum": 0,
      "enable": 0,
      "encode": [
        {
          "max": "32768",
          "min": "-32768"
        }
      ]
    },
    {
      "axisSlaveSum": 0,
      "enable": 0,
      "encode": [
        {
          "max": "32768",
          "min": "-32768"
        }
      ]
    },
    {
      "axisSlaveSum": 0,
      "enable": 0,
      "encode": [
        {
          "max": "32768",
          "min": "-32768"
        }
      ]
    }
  ]
}

10. Host Queries Robot Encoder Multi-Turn Value Parameters

Command: 0x20CC

Request Parameters

Parameter	Type	Description
robot	int	Current robot number, range [1,4]

Request Example JSON:

json

{
  "robot": 1
}

Command: 0x20CD (Controller Reply)

Reply parameters are the same as the setting parameters.

11. Host Requests to Save As Preset Robot Parameter File

Command: 0x20CE

Parameter	Type	Description
name	string	Robot type name
presetRobotName	string	Preset robot parameter custom name

Example JSON:

json

{
  "name": "R_GENERAL_6S",
  "presetRobotName": "AAA"
}

12. Host Queries Preset Robot File List

Command: 0x20CF

Parameter	Type	Description
name	string	Robot type name

Request Example JSON:

json

{
  "name": "R_GENERAL_6S"
}

Command: 0x20D0 (Controller Reply)

Parameter	Type	Description
listnum	int	Number of preset robots
nameList	array	Preset robot custom name list

Response Example JSON:

json

{
  "listnum": 2,
  "nameList": ["AAA.json", "BBB.json"]
}

13. Host Sends Get Preset Parameters Request

Command: 0x20D1

Parameter	Type	Description
name	string	Robot type name
presetRobotName	string	Preset robot parameter custom name

Request Example JSON:

json

{
  "name": "R_GENERAL_6S",
  "presetRobotName": "AAA.json"
}

14. Controller Replies with Robot Saved Preset Robot Parameters

Command: 0x20D2

Parameter	Type	Description
DH	object	Saved preset robot DH parameters
Joint	array	Saved preset robot joint parameter list

DH Parameters

Parameter	Type	Description
L1~L8	double	Link length parameters
angleToDistance	array	Robot angle to distance list
couplingRatio12~56	double	Coupling ratio parameters
distanceToAngle	array	Robot distance to angle list
dynamicLimit	object	J2+J3 range limit
fiveAxisDirection	double	Five-axis direction
mountAngle	bool	Robot upright or inverted mounting
robotType	int	Current robot type

Joint Array Element

Parameter	Type	Description
axisDirection	int	Joint actual direction
axisNum	int	Robot axis number
backLash	double	Gear backlash
direction	int	Model direction
encoderResolution	int	Encoder resolution bits
isReduceRatioEnable	bool	Whether encoder goes through reducer
maxAcc	double	Maximum acceleration
maxDec	double	Maximum deceleration
maxJerkAcc	double	Maximum jerk acceleration
maxJerkDec	double	Maximum jerk deceleration
maxRPM	double	Maximum positive speed
maxReverseRPM	double	Maximum reverse speed
positiveLimit	double	Joint positive limit
ratedRPM	double	Rated positive speed
ratedReverseRPM	double	Rated reverse speed
ratedReverseSpeed	double	Rated reverse speed
ratedSpeed	double	Rated positive speed
reducRatio	double	Reduction ratio
reverseLimit	double	Joint reverse limit

Response Example JSON:

json

{
  "DH": {
    "L1": 390.0,
    "L2": 450.872,
    "L3": 99.462,
    "L4": 471.29,
    "L5": 123.0,
    "L6": -0.544,
    "L7": -0.0,
    "L8": 0.0,
    "angleToDistance": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
    "couplingRatio12": 0.0,
    "couplingRatio23": 0.0,
    "couplingRatio32": 0.0,
    "couplingRatio34": 0.0,
    "couplingRatio45": 0.0,
    "couplingRatio46": 0.0,
    "couplingRatio56": 0.0,
    "distanceToAngle": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
    "dynamicLimit": {
      "max": 20.0,
      "min": -20.0
    },
    "fiveAxisDirection": 90,
    "mountAngle": false,
    "robotType": 1
  },
  "Joint": [
    {
      "axisDirection": 1,
      "axisNum": 1,
      "backLash": 0.0,
      "direction": -1,
      "encoderResolution": 17,
      "isReduceRatioEnable": true,
      "maxAcc": 6.0,
      "maxDec": -6.0,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "maxRPM": 1.0,
      "maxReverseRPM": -1.0,
      "positiveLimit": 160.0,
      "ratedRPM": 3600.0,
      "ratedReverseRPM": -3600.0,
      "ratedReverseSpeed": -270.05401080216,
      "ratedSpeed": 270.05401080216,
      "reducRatio": 79.984,
      "reverseLimit": -160.0
    },
    {
      "axisDirection": 1,
      "axisNum": 2,
      "backLash": 0.0,
      "direction": 1,
      "encoderResolution": 17,
      "isReduceRatioEnable": true,
      "maxAcc": 3.75,
      "maxDec": -3.75,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "maxRPM": 1.0,
      "maxReverseRPM": -1.0,
      "positiveLimit": 100.0,
      "ratedRPM": 3600.0,
      "ratedReverseRPM": -3600.0,
      "ratedReverseSpeed": -196.690858428112,
      "ratedSpeed": 196.690858428112,
      "reducRatio": 109.817,
      "reverseLimit": -100.0
    },
    {
      "axisDirection": 1,
      "axisNum": 3,
      "backLash": 0.0,
      "direction": 1,
      "encoderResolution": 17,
      "isReduceRatioEnable": true,
      "maxAcc": 7.5,
      "maxDec": -7.5,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "maxRPM": 1.0,
      "maxReverseRPM": -1.0,
      "positiveLimit": 90.0,
      "ratedRPM": 5000.0,
      "ratedReverseRPM": -5000.0,
      "ratedReverseSpeed": -299.604522030919,
      "ratedSpeed": 299.604522030919,
      "reducRatio": 100.132,
      "reverseLimit": -75.0
    },
    {
      "axisDirection": 1,
      "axisNum": 4,
      "backLash": 0.0,
      "direction": -1,
      "encoderResolution": 17,
      "isReduceRatioEnable": true,
      "maxAcc": 7.5,
      "maxDec": -7.5,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "maxRPM": 1.0,
      "maxReverseRPM": -1.0,
      "positiveLimit": 190.0,
      "ratedRPM": 5000.0,
      "ratedReverseRPM": -5000.0,
      "ratedReverseSpeed": -252.175009456563,
      "ratedSpeed": 252.175009456563,
      "reducRatio": 118.965,
      "reverseLimit": -190.0
    },
    {
      "axisDirection": 1,
      "axisNum": 5,
      "backLash": 0.0,
      "direction": 1,
      "encoderResolution": 17,
      "isReduceRatioEnable": true,
      "maxAcc": 7.5,
      "maxDec": -7.5,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "maxRPM": 1.0,
      "maxReverseRPM": -1.0,
      "positiveLimit": 20.0,
      "ratedRPM": 4500.0,
      "ratedReverseRPM": -4500.0,
      "ratedReverseSpeed": -337.491562710932,
      "ratedSpeed": 337.491562710932,
      "reducRatio": 80.002,
      "reverseLimit": -200.0
    },
    {
      "axisDirection": 1,
      "axisNum": 6,
      "backLash": 0.0,
      "direction": -1,
      "encoderResolution": 17,
      "isReduceRatioEnable": true,
      "maxAcc": 7.5,
      "maxDec": -7.5,
      "maxJerkAcc": 1.0,
      "maxJerkDec": -1.0,
      "maxRPM": 1.0,
      "maxReverseRPM": -1.0,
      "positiveLimit": 360.0,
      "ratedRPM": 4500.0,
      "ratedReverseRPM": -4500.0,
      "ratedReverseSpeed": -337.622388115692,
      "ratedSpeed": 337.622388115692,
      "reducRatio": 79.971,
      "reverseLimit": -360.0
    }
  ]
}

15. Host Sends Wine Tank Model Mark Center Request

Command: 0x20D3

json

{}

01.Custom-Instructions

01.Teach-Pendant-Impl

02.Controller-Impl

01.Getting-Started

03.API-Examples

01.Basic

02.Advanced

01.Getting-Started

02.API-Examples

01.Getting-Started

02.API-Examples

01.Basic

02.Advanced

02.Port-6000-Communication

01.Motion-Control

02.State-Control

03.Processes

06.Laser-Cutting

04.Job-Files

05.External-Control

06.Others

01.System

02.Robot

01.Parameters

03.Program

02.Instruction-CRUD

04.Peripherals-Communication

05.Processes

DH Parameters ​

Robot Basic Parameters ​

1. Host Sets Current Robot DH Parameters ​

1.1 Six-Axis Serial Robot (Dynamic Limit Active When Coupling Exists) ​

1.2 Six-Axis Collaborative Robot ​

1.3 Six-Axis Painting Robot ​

1.4 Six-Axis Special Type II ​

1.5 Five-Axis Serial Multi-Joint ​

1.6 Four-Axis SCARA ​

1.7 Four-Axis SCARA Special Type 1 ​

1.8 Four-Axis Linkage Palletizing ​

1.9 Four-Axis Palletizing Lead Screw ​

1.10 Four-Axis Serial Multi-Joint ​

1.11 Four-Axis Cartesian Robot ​

1.12 Four-Axis Polar Coordinate Special Type ​

1.13 Three-Axis SCARA ​

1.14 Three-Axis Cartesian Robot ​

1.15 Three-Axis Cartesian Special Type 1 ​

1.16 Two-Axis SCARA ​

1.17 Seven-Axis Serial Multi-Joint ​

1.18 Gantry Welding Model ​

1.19 Four-Axis Parallel Robot ​

1.20 Wine Tank Model ​

1.21 Gantry Welding 2 Model ​

1.22 Four-Axis Cartesian Special Type I ​

1.23 Six-Axis Gantry Welding Model ​

1.24 Five-Axis Hybrid Robot ​

1.25 Four-Axis SCARA Special Type 2 ​

1.26 Six-Axis Special Type III ​

1.27 Three-Axis SCARA Special Type I ​

1.28 delta2D Parallel Robot Model ​

1.29 Gantry Welding 3 Model ​

1.30 Three-Axis Serial Special Type I ​

1.31 Five-Axis Collaborative Robot ​

1.32 Four-Axis SCARA Special Type 3 ​

1.33 Six-Axis Serial - CBBARA ​

1.34 GaoGe Column Rotation Four-Axis ​

2. Host Queries Current Robot DH Parameters ​

Request Parameters ​

3. Controller Replies to Host with Current Robot DH Parameters ​

3.1 Six-Axis Serial Robot (robotType: 1) ​

3.2 Robot Type Reference Table ​

4. Host Requests to Save Preset Robot Parameters ​

5. Host Sets Robot Joint Parameters ​

6. Host Queries Robot Joint Parameters ​

Request Parameters ​

7. Host Sets Robot Cartesian Parameters ​

8. Host Queries Robot Cartesian Parameters ​

Request Parameters ​

9. Host Sets Robot Joint Multi-Turn Value Parameters ​

robotAxis Array Element ​

encode Array Element ​

DH Parameters

Robot Basic Parameters

1. Host Sets Current Robot DH Parameters

1.1 Six-Axis Serial Robot (Dynamic Limit Active When Coupling Exists)

1.2 Six-Axis Collaborative Robot

1.3 Six-Axis Painting Robot

1.4 Six-Axis Special Type II

1.5 Five-Axis Serial Multi-Joint

1.6 Four-Axis SCARA

1.7 Four-Axis SCARA Special Type 1

1.8 Four-Axis Linkage Palletizing

1.9 Four-Axis Palletizing Lead Screw

1.10 Four-Axis Serial Multi-Joint

1.11 Four-Axis Cartesian Robot

1.12 Four-Axis Polar Coordinate Special Type

1.13 Three-Axis SCARA

1.14 Three-Axis Cartesian Robot

1.15 Three-Axis Cartesian Special Type 1

1.16 Two-Axis SCARA

1.17 Seven-Axis Serial Multi-Joint

1.18 Gantry Welding Model

1.19 Four-Axis Parallel Robot

1.20 Wine Tank Model

1.21 Gantry Welding 2 Model

1.22 Four-Axis Cartesian Special Type I

1.23 Six-Axis Gantry Welding Model

1.24 Five-Axis Hybrid Robot

1.25 Four-Axis SCARA Special Type 2

1.26 Six-Axis Special Type III

1.27 Three-Axis SCARA Special Type I

1.28 delta2D Parallel Robot Model

1.29 Gantry Welding 3 Model

1.30 Three-Axis Serial Special Type I

1.31 Five-Axis Collaborative Robot

1.32 Four-Axis SCARA Special Type 3

1.33 Six-Axis Serial - CBBARA

1.34 GaoGe Column Rotation Four-Axis

2. Host Queries Current Robot DH Parameters

Request Parameters

3. Controller Replies to Host with Current Robot DH Parameters

3.1 Six-Axis Serial Robot (robotType: 1)

3.2 Robot Type Reference Table

4. Host Requests to Save Preset Robot Parameters

5. Host Sets Robot Joint Parameters

6. Host Queries Robot Joint Parameters

Request Parameters

7. Host Sets Robot Cartesian Parameters

8. Host Queries Robot Cartesian Parameters

Request Parameters

9. Host Sets Robot Joint Multi-Turn Value Parameters

robotAxis Array Element

encode Array Element

10. Host Queries Robot Encoder Multi-Turn Value Parameters

Request Parameters

11. Host Requests to Save As Preset Robot Parameter File

12. Host Queries Preset Robot File List

13. Host Sends Get Preset Parameters Request

14. Controller Replies with Robot Saved Preset Robot Parameters

DH Parameters

Joint Array Element

15. Host Sends Wine Tank Model Mark Center Request