Home Position

Overview

The host computer and controller communicate through the home position protocol for setting and querying robot home position, home IO parameters, safety position, and other related configurations.

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1. Host Sets Home Position

Command Word: 0x3660

Request Parameters

Parameter	Type	Length	Description
pos	double[]	7	Robot home position list
posSync	double[]	5	Robot external axis home position list
robot	int	1	Current robot number, range [1,4]

Request Example

{
  "pos": [10.20, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "posSync": [0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1
}

---

2. Host Queries Home Position

Command Word: 0x3661

Request Parameters

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

Request Example

{
  "robot": 1
}

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3. Controller Replies Home Position to Host

Command Word: 0x3662

Response Parameters

Parameter	Type	Length	Description
deviation	double[]	7	Robot each axis safety range, range [0,10]
deviationSync	double[]	5	Robot external axis each axis safety range, range [0,10]
inPort	int	1	Start DIN
inValue	int	1	Start DIN parameter, range [0,1]
outPort	int	1	End DOUT
pos	double[]	7	Robot home position list
posSync	double[]	5	External axis home position list
returnWay	int	1	Interpolation method: 0-Joint interpolation, 1-Linear interpolation
robot	int	1	Current robot number, range [1,4]
safeEnable	bool	1	Safety enable: when safety enable is active, the robot must be manually returned to the safety position before it can run again
selectPiontOrFile	int	1	Robot home mode: 0-Home position, 1-Home program

Response Example

{
  "deviation": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
  "deviationSync": [1.0, 1.0, 1.0, 1.0, 1.0],
  "inPort": 0,
  "inValue": 1,
  "outPort": 0,
  "pos": [10.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "posSync": [0.0, 0.0, 0.0, 0.0, 0.0],
  "returnWay": 0,
  "robot": 1,
  "safeEnable": false,
  "selectPiontOrFile": 0
}

---

4. Host Sets Home IO Parameters

Command Word: 0x3663

Request Parameters

Parameter	Type	Description
inPort	int	Start DIN
inValue	int	Start DIN parameter, range [0,1]
outPort	int	End DOUT
returnWay	int	Interpolation method: 0-Joint interpolation, 1-Linear interpolation
robot	int	Current robot number, range [1,4]
safeEnable	bool	Safety enable: when safety enable is active, the robot must be manually returned to the safety position before it can run again
selectPiontOrFile	int	Robot home mode: 0-Home position, 1-Home program

Request Example

{
  "inPort": 0,
  "inValue": 1,
  "outPort": 0,
  "returnWay": 0,
  "robot": 1,
  "safeEnable": false,
  "selectPiontOrFile": 0
}

---

5. Host Sets Home Position Safety Position

Command Word: 0x3664

Request Parameters

Parameter	Type	Length	Description
deviation	double[]	7	Robot each axis safety range, range [0,10]
deviationSync	double[]	5	Robot external axis each axis safety range, range [0,10]
robot	int	1	Current robot number, range [1,4]

Request Example

{
  "deviation": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
  "deviationSync": [1.0, 1.0, 1.0, 1.0, 1.0],
  "robot": 1
}

---

6. Controller Replies Host That Current Position Is Not at Safety Position

Command Word: 0x3665

Response Parameters

Parameter	Type	Length	Description
currentPos	double[]	6	Current robot position list, length is the number of axes of the current robot
isSync	bool	1	Whether it is an external axis
robot	int	1	Current robot number, range [1,4]
safePos	double[]	6	Home position list

Response Example

{
  "currentPos": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "isSync": false,
  "robot": 1,
  "safePos": [10.2, 0.0, 0.0, 0.0, 0.0, 0.0]
}

Home Position Safety Position (Supplementary returnway Field Description)

In home position settings, the returnway field represents the robot home mode:

• 0: Home position
• 1: Home program