Zero Point

Request to Mark Backlash-Free Direction

Command Word: 0x3600

• No data needs to be sent

Clear Axis Multi-Turn Value

Request to Clear Axis Multi-Turn Value

Command Word: 0x3601

Field	Type	Description
axis	int	Axis to clear multi-turn value, range [0, 7], 0 means clear all axes' multi-turn values
clear	bool	Whether to clear multi-turn value
robot	int	Current robot number, range [1, 4]

{
  "axis": 0,
  "clear": true,
  "robot": 1
}

Controller Response

Command Word: 0x3602

Field	Type	Description
axis	int	Axis whose multi-turn value was cleared, range [0, 7]
result	int	Clear multi-turn value result, range [0, 1]
robot	int	Current robot number, range [1, 4]

{
  "axis": 0,
  "result": 1,
  "robot": 1
}

Encoder Status

Query Encoder Status

Command Word: 0x3603

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

{
  "robot": 1
}

Controller Response

Command Word: 0x3604

Field	Type	Description
encoderUndervoltage	bool[]	Undervoltage alarm list, false means no undervoltage, true means undervoltage, length is the number of axes of the current robot
encoderUnderVoltageExternal	bool[]	External axis undervoltage alarm list, false means no undervoltage, true means undervoltage, length is the number of external axes of the current robot
robot	int	Current robot number, range [1, 4]

{
  "encoderUndervoltage": [false, false, false, false, false, false],
  "encoderUnderVoltageExternal": [false, false, false, false, false],
  "robot": 1
}

Zero Point Offset

Set Zero Point Offset

Command Word: 0x3605

Field	Type	Description
axis	int	Axis to set zero point offset, range [0, 7], 0 means set all axes
mode	int	Zero point offset method: 0 means degree, 1 means offset
robot	int	Current robot number, range [1, 4]
value	double[]	Zero point offset value list, length 7; when mode is degree, range [-360, 360]

{
  "axis": 0,
  "mode": 0,
  "robot": 1,
  "value": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}

Single-Turn Value

Set Single-Turn Value

Command Word: 0x3606

Field	Type	Description
robot	int	Current robot number, range [1, 4]
value	int[]	Single-turn value list for each axis, range [-2^31, 2^31-1]

{
  "robot": 1,
  "value": [0, 0, 0, 0, 0, 0]
}

Query Single-Turn Value

Command Word: 0x3607

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

{
  "robot": 1
}

Controller Response

Command Word: 0x3608

Field	Type	Description
robot	int	Current robot number, range [1, 4]
value	int[]	Single-turn value list for each axis, range [-2^31, 2^31-1]

{
  "robot": 1,
  "value": [0, 0, 0, 0, 0, 0]
}

Multi-Turn Value

When zero point offset is encoder-based

Query Multi-Turn Value

Command Word: 0x330B

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

{
  "robot": 1
}

Controller Response

Command Word: 0x330C

Field	Type	Description
robot	int	Current robot number, range [1, 4]
value	int[]	Motor encoder value list

{
  "robot": 1,
  "value": [0, 0, 0, 0, 0, 0, 0]
}