User Coordinates

User Coordinate Calibration

0x3560 Host Requests User Coordinate Calibration Calculation

Description: Host requests user coordinate calibration calculation

Request Parameters:

Parameter	Type	Description
robot	int	Current robot number, range [1,4]
user	int	Current user coordinate number, range [1,999]

Request Example:

{
  "robot": 1,
  "user": 1
}

---

0x3561 Controller Replies User Coordinate Calibration Calculation Result

Description: Controller replies to host with user coordinate calibration calculation result

Response Parameters:

Parameter	Type	Description
result	bool	Whether calibration calculation succeeded
robot	int	Current robot number, range [1,4]

Response Example:

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

---

0x3562 Host Requests Current User Coordinate Calibration Origin/X Value/Y Value

Description: Host requests current user coordinate calibration origin/X value/Y value

Request Parameters:

Parameter	Type	Description
posX	double[]	Marked X value position information list; present when require is "OXY"
posY	double[]	Marked Y value position information list; present when require is "OXY"
posZero	double[]	Marked origin position information list; present when require is "OXY"
require	string	Marked point information; values "0", "X", "Y" represent marking origin, X value, Y value respectively; when value is "OXY", marks all points
robot	int	Current robot number, range [1,4]
user	int	Current user coordinate number, range [1,999]

Request Example:

{
  "posX": [470.7460, 0.0, 817.3340, 3.1410, 0.0, 0.0],
  "posY": [470.7460, 0.0, 817.3340, 3.1410, 0.0, 0.0],
  "posZero": [470.7460, 0.0, 817.3340, 3.1410, 0.0, 0.0],
  "require": "OXY",
  "robot": 1,
  "user": 1
}

---

0x3563 Controller Replies Current User Coordinate Calibration Origin/X Value/Y Value

Description: Controller replies to host with current user coordinate calibration origin/X value/Y value

Response Parameters:

Parameter	Type	Description
position	double[]	Position information list in radians
positionDeg	double[]	Position information list in degrees
require	string	Marked point information; values "0", "X", "Y" represent marking origin, X value, Y value respectively
robot	int	Current robot number, range [1,4]
status	bool	Calibration status, true means calibrated, false means not calibrated
user	int	Current user coordinate number, range [1,999]

Response Example:

{
  "position": [470.746, 0.0, 817.334, 3.141, 0.0, 0.0],
  "positionDeg": [470.746, 0.0, 817.334, 179.966043450592, 0.0, 0.0],
  "require": "O",
  "robot": 1,
  "status": true,
  "user": 1
}

---

0x3570 Host Queries User Coordinate Calibration Point Position Information

Description: Host queries user coordinate calibration point position information

Request Parameters:

Parameter	Type	Description
require	string	Position information to query; values "0", "X", "Y" represent marking origin, X value, Y value respectively; value "Calibration" represents calculated position information
robot	int	Current robot number, range [1,4]
user	int	Current user coordinate number, range [1,999]

Request Example:

{
  "require": "X",
  "robot": 1,
  "user": 1
}

---

0x3571 Controller Replies User Coordinate Calibration Point Position Information

Description: Controller replies to host with user coordinate calibration point position information

Response Parameters:

Parameter	Type	Description
position	double[]	Position information list in radians; when require is "Calibration", this is the offset in radians
positionDeg	double[]	Position information list in degrees; when require is "Calibration", this is the offset in degrees
require	string	Queried position information; values "0", "X", "Y" represent marking origin, X value, Y value respectively; value "Calibration" represents calculated position information
robot	int	Current robot number, range [1,4]
status	bool	Calibration status, true means calibrated, false means not calibrated; this field does not exist when require is "Calibration"
user	int	Current user coordinate number, range [1,999]

Response Example:

{
  "position": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "positionDeg": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "require": "X",
  "robot": 1,
  "status": false,
  "user": 1
}

---

User Coordinate Number

0x3580 Host Requests to Switch User Coordinate

Description: Host requests to switch user coordinate

Request Parameters:

Parameter	Type	Description
robot	int	Current robot number, range [1,4]
user	int	User coordinate number to switch to, range [1,999]

Request Example:

{
  "robot": 1,
  "user": 3
}

---

0x3581 Host Queries Currently Selected User Coordinate Number

Description: Host queries currently selected user coordinate number

Request Parameters:

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

Request Example:

{
  "robot": 1
}

---

0x3582 Controller Replies Selected User Coordinate Number

Description: Controller replies to host with selected user coordinate number

Response Parameters:

Parameter	Type	Description
robot	int	Current robot number, range [1,4]
user	int	Current user coordinate number, range [1,999]

Response Example:

{
  "robot": 1,
  "user": 3
}

---

User Coordinate Note

0x3590 Host Requests to Set User Coordinate Note

Description: Host requests to set user coordinate note

Request Parameters:

Parameter	Type	Description
note	string	Note to set
robot	int	Current robot number, range [1,4]
user	int	Current user coordinate number, range [1,999]

Request Example:

{
  "note": "AAA",
  "robot": 1,
  "user": 1
}

---

0x3591 Host Queries User Coordinate Number Note

Description: Host queries user coordinate number note

Request Parameters:

Parameter	Type	Description
robot	int	Current robot number, range [1,4]
user	int	Current user coordinate number, range [1,999]

Request Example:

{
  "robot": 1,
  "user": 1
}

---

0x3592 Controller Replies User Coordinate Number Note

Description: Controller replies to host with user coordinate number note

Response Parameters:

Parameter	Type	Description
note	string	Current user coordinate note
robot	int	Current robot number, range [1,4]
user	int	Current user coordinate number, range [1,999]

Response Example:

{
  "note": "AAA",
  "robot": 1,
  "user": 1
}

---

0x3593 Host Sets User Coordinate Offset

Description: Host sets user coordinate offset

Request Parameters:

Parameter	Type	Description
position	double[]	Offset list to set, in order: X value, Y value, Z value, A value, B value, C value
user	int	Current user coordinate number, range [1,999]

Request Example:

{
  "position": [5.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "user": 1
}