Tool

Tool Parameters

Host Sets Tool Parameters

Command Word: 0x3500

Parameter List:

Parameter	Type	Description	Range
A	double	Rotation around A axis	Radian [-3.1416,3.1416], Degree [-180,180]
B	double	Rotation around B axis	Radian [-3.1416,3.1416], Degree [-180,180]
C	double	Rotation around C axis	Radian [-3.1416,3.1416], Degree [-180,180]
X	double	X-axis offset, unit mm	[-2000,2000]
Y	double	Y-axis offset, unit mm	[-2000,2000]
Z	double	Z-axis offset, unit mm	[-2000,2000]
note	string	Tool note	-
payloadInertia	double	Payload inertia, unit 0.001kgm²	[-999999,999999]
payloadMass	double	Payload mass, unit kg	[0,999999]
payloadMassCenterX	double	Payload center of mass X, unit m	[-999999,999999]
payloadMassCenterY	double	Payload center of mass Y, unit m	[-999999,999999]
payloadMassCenterZ	double	Payload center of mass Z, unit m	[-999999,999999]
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]

Request Example:

{
  "parameter": {
    "A": 0.0,
    "B": 0.0,
    "C": 0.0,
    "X": -68.0,
    "Y": 3.0,
    "Z": 162.0,
    "note": "",
    "payloadInertia": 0.0,
    "payloadMass": 3.0,
    "payloadMassCenterX": 0.0,
    "payloadMassCenterY": 0.0,
    "payloadMassCenterZ": 0.170
  },
  "robot": 1,
  "tool": 1
}

Host Queries Tool Parameters

Command Word: 0x3501

Parameter List:

Parameter	Type	Description	Range
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]

Request Example:

{
  "robot": 1,
  "tool": 1
}

Controller Replies Tool Parameters to Host

Command Word: 0x3502

Parameter List (Radian):

Parameter	Type	Description	Range
A	double	Rotation around A axis	[-3.1416,3.1416]
B	double	Rotation around B axis	[-3.1416,3.1416]
C	double	Rotation around C axis	[-3.1416,3.1416]
X	double	X-axis offset, unit mm	[-2000,2000]
Y	double	Y-axis offset, unit mm	[-2000,2000]
Z	double	Z-axis offset, unit mm	[-2000,2000]
note	string	Tool note	-
payloadInertia	double	Payload inertia, unit 0.001kgm²	[-999999,999999]
payloadMass	double	Payload mass, unit kg	[0,999999]
payloadMassCenterX	double	Payload center of mass X, unit m	[-999999,999999]
payloadMassCenterY	double	Payload center of mass Y, unit m	[-999999,999999]
payloadMassCenterZ	double	Payload center of mass Z, unit m	[-999999,999999]

Parameter List (Degree):

Parameter	Type	Description	Range
A	double	Rotation around A axis	[-180,180]
B	double	Rotation around B axis	[-180,180]
C	double	Rotation around C axis	[-180,180]
X	double	X-axis offset, unit mm	[-2000,2000]
Y	double	Y-axis offset, unit mm	[-2000,2000]
Z	double	Z-axis offset, unit mm	[-2000,2000]
note	string	Tool note	-
payloadInertia	double	Payload inertia, unit 0.001kgm²	[-999999,999999]
payloadMass	double	Payload mass, unit kg	[0,999999]
payloadMassCenterX	double	Payload center of mass X, unit m	[-999999,999999]
payloadMassCenterY	double	Payload center of mass Y, unit m	[-999999,999999]
payloadMassCenterZ	double	Payload center of mass Z, unit m	[-999999,999999]

Parameter	Type	Description	Range
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]

Response Example:

{
  "parameter": {
    "A": 0.0,
    "B": 0.0,
    "C": 0.0,
    "X": -68.0,
    "Y": 3.0,
    "Z": 162.0,
    "note": "",
    "payloadInertia": 0.0,
    "payloadMass": 3.0,
    "payloadMassCenterX": 0.0,
    "payloadMassCenterY": 0.0,
    "payloadMassCenterZ": 0.17
  },
  "parameterDeg": {
    "A": 0.0,
    "B": 0.0,
    "C": 0.0,
    "X": -68.0,
    "Y": 3.0,
    "Z": 162.0,
    "note": "",
    "payloadInertia": 0.0,
    "payloadMass": 3.0,
    "payloadMassCenterX": 0.0,
    "payloadMassCenterY": 0.0,
    "payloadMassCenterZ": 0.17
  },
  "robot": 1,
  "tool": 1
}

Tool Number

Host Requests to Switch Tool Number

Command Word: 0x3510

Parameter	Type	Description	Range
robot	int	Current robot number	[1,4]
tool	int	Tool number to switch to, 0 means no tool	[0,999]

Request Example:

{
  "robot": 1,
  "tool": 0
}

Host Queries Tool Number

Command Word: 0x3511

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

Request Example:

{
  "robot": 1
}

Controller Replies Tool Number to Host

Command Word: 0x3512

Parameter	Type	Description	Range
curToolNum	int	Currently selected tool number	[0,999]
robot	int	Current robot number	[1,4]
tool	int	Same as selected tool number; when selected tool number is 0, value is 1	[1,999]

Response Example:

{
  "curToolNum": 0,
  "robot": 1,
  "tool": 1
}

Tool Calibration

Six-point and seven-point calibration, including calibrating point N, getting calibration point position information, and point calibration status. Before calibration calculation, all points must be calibrated. First use 0x3521 to calibrate each point, then use 0x3520 to calculate the calibration result after all points are calibrated. When querying position information of point N, point N must already be calibrated.

Host Calibration Calculation Request

Command Word: 0x3520

Parameter	Type	Description	Range
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]

Request Example:

{
  "robot": 1,
  "tool": 1,
  "calibrationType": 7
}

Host Calibrate Point N Request

Command Word: 0x3521

Parameter	Type	Description	Range
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]
point	int	Calibration point number	Six-point [0,5], Seven-point [0,6]
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]

Request Example:

{
  "calibrationType": 7,
  "point": 4,
  "robot": 1,
  "tool": 1
}

Controller Replies Point N Calibration Information to Host

Command Word: 0x3522

Parameter	Type	Description	Range
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]
point	int	Calibration point number	Six-point [0,5], Seven-point [0,6]
position	array<double>	Calibration point Cartesian coordinate information list	-
robot	int	Current robot number	[1,4]

Response Example:

{
  "calibrationType": 7,
  "point": 1,
  "position": [19998.0, 0.000000000001, 19998.0, 3.14159265359, 0.0, 0.0, 0.0],
  "robot": 1
}

Controller Replies Calibration Calculation Result to Host

Command Word: 0x3523

Parameter	Type	Description	Range
result	bool	Calibration calculation result	-
robot	int	Current robot number	[1,4]

Response Example:

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

Host Queries Point N Position Information

Command Word: 0x3524

Parameter	Type	Description	Range
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]
point	int	Calibration point number	Six-point [0,5], Seven-point [0,6]
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]

Request Example:

{
  "calibrationType": 7,
  "point": 4,
  "robot": 1,
  "tool": 1
}

Controller Replies Point N Position Information to Host

Command Word: 0x3525

Parameter	Type	Description	Range
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]
point	int	Calibration point number	Six-point [0,5], Seven-point [0,6]
position	array<double>	Calibration point Cartesian coordinate information list	-
robot	int	Current robot number	[1,4]

Response Example:

{
  "calibrationType": 7,
  "point": 1,
  "position": [19998.0, 0.000000000001, 19998.0, 3.14159265359, 0.0, 0.0, 0.0],
  "robot": 1
}

Host Queries All Point Calibration Status

Command Word: 0x3526

Parameter	Type	Description	Range
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]

Request Example:

{
  "calibrationType": 7,
  "robot": 1,
  "tool": 1
}

Controller Replies All Point Calibration Status to Host

Command Word: 0x3527

Parameter	Type	Description	Range
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]
robot	int	Current robot number	[1,4]
status	array<int>	Point calibration status list, 1 means calibrated, 0 means not calibrated	Six-point length 6, Seven-point length 7

Response Example:

{
  "calibrationType": 7,
  "robot": 1,
  "status": [1, 1, 1, 0, 0, 1, 1]
}

Host Requests to Clear Point N Calibration Status

Command Word: 0x3528

Parameter	Type	Description	Range
calibrationType	int	Calibration point method, 6 for six-point method, 7 for seven-point method	[6,7]
point	int	Calibration point number	Six-point [0,5], Seven-point [0,6]
robot	int	Current robot number	[1,4]
tool	int	Current tool number	[1,999]

Request Example:

{
  "calibrationType": 7,
  "point": 0,
  "robot": 1,
  "tool": 1
}