Calibration

Four-Point Calibration

Description: The robot end moves to and calibrates four points. After calculation, the link length and axis zero point offset can be obtained. If the calculation result is accepted, the result can be filled into the DH parameters.

Host Four-Point Calibration Calculation Request

Command Word: 0x3700

Parameter	Type	Range/Description
ParamOf4Points	double[]	Length 2, L1 and L2 lengths. The two parameters are the X movement distance and Y movement distance when the robot end moves from marker point A to marker point C

{
  "ParamOf4Points": [85.0, 70.0]
}

Host Point N Calibration Request

Command Word: 0x3701

Parameter	Type	Range/Description
pointNum	int	Range [0,3], calibration point number
status	int	Range [0,1], calibration status. 0 means cancel calibration, 1 means calibrate

{
  "pointNum": 0,
  "status": 1
}

Controller Replies Point N Calibration Position Information to Host

Command Word: 0x3702

Parameter	Type	Range/Description
pointNum	int	Range [0,3], calibration point number
pos	double[]	Length 4, position information list

{
  "pointNum": 0,
  "pos": [0.0, 0.0, 0.0, 0.0]
}

Controller Replies Calibration Calculation Result to Host

Command Word: 0x3703

Parameter	Type	Range/Description
dtheta	double[]	Length 2, axis zero point offset list. All values -1 means calculation failed
length	double[]	Length 2, link length list. All values -1 means calculation failed
result	bool	Whether calculation succeeded

{
  "dtheta": [-1.0, -1.0],
  "length": [-1.0, -1.0],
  "result": false
}

Host Requests to Fill Calculation Result into DH Parameters

Command Word: 0x3704

{}

Controller Replies DH Parameter Fill Result to Host

Command Word: 0x3705

Parameter	Type	Range/Description
apply	bool	Whether filling calculation result succeeded

{
  "apply": true
}

Host Queries Calibration Information

Command Word: 0x3706

Parameter	Type	Range/Description
dtheta	double[]	Length 2, axis zero point offset list. null means no calculation result
length	double[]	Length 2, link length list. null means no calculation result
result	bool	Whether calculation succeeded
status	int[]	Point calibration status list. 0 means not calibrated, 1 means calibrated

{
  "dtheta": [null, null],
  "length": [null, null],
  "result": false,
  "status": [0, 1, 0, 1]
}

20-Point Calibration

Description: A method for calibrating the robot by calibrating at 20 specific points to ensure robot accuracy and stability.

Host Calibration Calculation Request

Command Word: 0x3710

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
noCalZero	bool	Whether to calibrate zero
robot	int	Range [1,4], current robot number
tool	int	Range [1,999], current tool number

{
  "calibrationType": 20,
  "noCalZero": false,
  "robot": 1,
  "tool": 1
}

Host Point N Calibration Request

Command Word: 0x3711

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
point	int	Calibration point number. 2-point method range [0,1], 12-point method range [0,11], 15-point method range [0,14], 20-point method range [0,19]
robot	int	Range [1,4], current robot number
tool	int	Range [1,999], current tool number

{
  "calibrationType": 20,
  "point": 1,
  "robot": 1,
  "tool": 1
}

Controller Replies Point N Calibration Information to Host

Command Word: 0x3712

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
point	int	Calibration point number. 2-point method range [0,1], 12-point method range [0,11], 15-point method range [0,14], 20-point method range [0,19]
position	double[]	Calibration point joint coordinate information list, length 6
robot	int	Range [1,4], current robot number

{
  "calibrationType": 20,
  "point": 1,
  "position": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1
}

Controller Replies Calibration Calculation Result to Host

Command Word: 0x3713

Parameter	Type	Range/Description
distance	double	Calibration calculation result. Result -1 means calculation failed, result >10 means please recalibrate
result	bool	Whether calibration calculation succeeded
robot	int	Range [1,4], current robot number

{
  "distance": 464.473876425245,
  "result": true,
  "robot": 1
}

Host Sends Setting Calibration Result as Zero Point

Command Word: 0x3714

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
robot	int	Range [1,4], current robot number
tool	int	Range [1,999], current tool number

{
  "calibrationType": 12,
  "robot": 1,
  "tool": 1
}

Controller Replies Calibration Result Zero Point Setting Result to Host

Command Word: 0x3715

Parameter	Type	Range/Description
apply	bool	Whether setting as zero point succeeded
robot	int	Range [1,4], current robot number

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

Host Queries All Point Calibration Status

Command Word: 0x3716

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
robot	int	Range [1,4], current robot number
tool	int	Range [1,999], current tool number

{
  "calibrationType": 20,
  "robot": 1,
  "tool": 1
}

Controller Replies All Point Calibration Status to Host

Command Word: 0x3717

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
robot	int	Range [1,4], current robot number
status	int[]	Point calibration status list. 1 means calibrated, 0 means not calibrated. Length depends on current calibration method

{
  "calibrationType": 20,
  "robot": 1,
  "status": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
}

Host Requests to Clear Point N Calibration Status

Command Word: 0x3718

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
point	int	Range [0,20], calibration point number. 20 means clear all points
robot	int	Range [1,4], current robot number
tool	int	Range [1,999], current tool number

{
  "calibrationType": 20,
  "point": 20,
  "robot": 1,
  "tool": 1
}

Host Queries Point N Position Information

Command Word: 0x3719

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
point	int	Calibration point number. 2-point method range [0,1], 12-point method range [0,11], 15-point method range [0,14], 20-point method range [0,19]
robot	int	Range [1,4], current robot number
tool	int	Range [1,999], current tool number

{
  "calibrationType": 20,
  "point": 1,
  "robot": 1,
  "tool": 1
}

Controller Replies Point N Position Information to Host

Command Word: 0x371A

Parameter	Type	Range/Description
calibrationType	int	Calibration point method. 2 means 2-point method, 12 means 12-point method, 15 means 15-point method, 20 means 20-point method with zero calibration, 21 means 21-point method without zero calibration
point	int	Calibration point number. 2-point method range [0,1], 12-point method range [0,11], 15-point method range [0,14], 20-point method range [0,19]
position	double[]	Calibration point joint coordinate information list, length 6
robot	int	Range [1,4], current robot number

{
  "calibrationType": 20,
  "point": 1,
  "position": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1
}

Host Requests to Move to Calculation Result Position

Command Word: 0x371B

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

{
  "robot": 1
}

Host Queries Whether Calibration Page Can Be Opened

Command Word: 0x371C

{}

Controller Replies Whether Calibration Page Can Be Opened to Host

Command Word: 0x371D

Parameter	Type	Range/Description
canCalibration	bool	Whether the host can open the calibration page

{
  "canCalibration": true
}

External Axis Calibration

Description: Includes rotary axis calibration and linear axis (track) coordination parameters.

Host External Rotary Axis Calibration Calculation Request

Command Word: 0x3730

Parameter	Type	Range/Description
calibrateNum	int	Range [1,3], current axis group number
robot	int	Range [1,4], current robot number

{
  "calibrateNum": 1,
  "robot": 1
}

Host External Axis Point N Calibration Request

Command Word: 0x3731

Parameter	Type	Range/Description
externalGroupNum	int	Range [1,3], current axis group number
pointNum	int	Range [0,4], marker point number. Rotary dual-turn range [0,4]; rotary single-axis range [0,2]
robot	int	Range [1,4], current robot number

{
  "externalGroupNum": 1,
  "pointNum": 0,
  "robot": 1
}

Controller Replies External Axis Point N Calibration Information to Host

Command Word: 0x3732

Parameter	Type	Range/Description
externalGroupNum	int	Range [1,3], current axis group number
pointNum	int	Range [0,4], marker point number. Rotary dual-turn range [0,4]; rotary single-axis range [0,2]
pos	double[]	Calibration point Cartesian coordinate information list, length 6
robot	int	Range [1,4], current robot number

{
  "externalGroupNum": 1,
  "pointNum": 0,
  "pos": [470.746, 0.0, 817.334, 3.14159265359, 0.0, 0.0],
  "robot": 1
}

Controller Replies External Axis Calibration Calculation Result to Host

Command Word: 0x3733

Parameter	Type	Range/Description
result	bool	Whether external axis calibration calculation succeeded
robot	int	Range [1,4], current robot number

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

Host Queries Robot Bound External Axis Calibration Status

Command Word: 0x3734

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

{
  "robot": 1
}

Controller Replies Robot Bound External Axis Calibration Status to Host

Command Word: 0x3735

Parameter	Type	Range/Description
calibrateResult	bool[]	Length 3, robot bound external axis calibration status. true means calibrated, false means not calibrated
robot	int	Range [1,4], current robot number

{
  "calibrateResult": [false, false, false],
  "robot": 1
}

Host Sets Current Cooperative External Axis Group Number

Command Word: 0x3736

Parameter	Type	Range/Description
externalGroupNum	int	Range [0,2], cooperative external axis group number
robot	int	Range [1,4], current robot number

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

Host Queries Current Cooperative External Axis Group Number

Command Word: 0x3737

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

{
  "robot": 1
}

Controller Replies Current Cooperative External Axis Group Number to Host

Command Word: 0x3738

Parameter	Type	Range/Description
externalGroupNum	int	Range [0,2], cooperative external axis group number
robot	int	Range [1,4], current robot number

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

Host Sets Track Coordination Parameters

Command Word: 0x3739

Parameter	Type	Range/Description
calibrateResult	bool	Whether track is coordinated. Coordinated: determined when enable address is set
conversionRatio	double[]	Length 3, axis conversion ratio list, range [-9998,9998]. Parts exceeding current axis count default to 1.0
trackMap	int[]	Length 3, track axis directions. 0 means no direction selected, 1 means X direction, 2 means Y axis direction, 3 means Z axis direction. Parts exceeding current axis count default to 0

{
  "calibrateResult": true,
  "conversionRatio": [58.0, 1.0, 1.0],
  "trackMap": [1, 0, 0]
}

Host Queries Current Robot Track Coordination Parameters

Command Word: 0x373A

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

{
  "robot": 1
}

Controller Replies Current Robot Track Coordination Parameters

Command Word: 0x373B

Parameter	Type	Range/Description
calibrateResult	bool	Whether track is coordinated
conversionRatio	double[]	Length 3, axis conversion ratio list, range [-9998,9998]. Initialized to 9999
robot	int	Current robot number
trackMap	int[]	Length 3, track axis directions. 0 means no direction selected, 1 means X direction, 2 means Y axis direction, 3 means Z axis direction. Initialized to 0

{
  "calibrateResult": false,
  "conversionRatio": [9999, 9999, 9999],
  "robot": 1,
  "trackMap": [0, 0, 0]
}

Host Sends Setting External Axis Calibration Result

Command Word: 0x373C

Parameter	Type	Range/Description
syncPositionerNum	int	Range [1,3], current axis group number
resultArray	double[][]	Axis calibration result list. First dimension length is current total external axis count, second dimension length is 6

{
  "syncPositionerNum": 1,
  "resultArray": [
    [0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0]
  ]
}

Host Queries External Axis Calibration Result

Command Word: 0x373D

Parameter	Type	Range/Description
syncPositionerNum	int	Range [1,3], current axis group number

{
  "syncPositionerNum": 1
}

Controller Replies External Axis Calibration Result to Host

Command Word: 0x373E

Parameter	Type	Range/Description
syncPositionerNum	int	Range [1,3], current axis group number
calibrateResult	bool	External axis calibration calculation result
resultArray	double[][]	Axis calibration result list. First dimension length is current total external axis count, second dimension length is 6

{
  "syncPositionerNum": 1,
  "calibrateResult": false,
  "resultArray": [
    [0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0]
  ]
}

Host Sends Setting Track Direction Calibration Coefficient

Command Word: 0x373F

Parameter	Type	Range/Description
axis_num	int	Range [1,3], track axis number
direction_ratio	double[]	Direction calibration coefficient, range [-100,100]. Parameters are X direction coefficient, Y direction coefficient, Z direction coefficient

{
  "axis_num": 1,
  "direction_ratio": [1.0, 0.0, 0.0]
}

Host Queries Track Direction Calibration Coefficient

Command Word: 0x3740

Parameter	Type	Range/Description
axis_num	int	Range [1,3], track axis number

{
  "axis_num": 1
}

Controller Replies Track Direction Calibration Coefficient

Command Word: 0x3741

Parameter	Type	Range/Description
axis_num	int	Range [1,3], track axis number
direction_ratio	double[]	Direction calibration coefficient, range [-100,100]. Parameters are X direction coefficient, Y direction coefficient, Z direction coefficient

{
  "axis_num": 1,
  "direction_ratio": [1.0, 0.0, 0.0]
}

Host Axis Point N Calibration Request

Command Word: 0x3742

Parameter	Type	Range/Description
axis_num	int	Range [1,3], current axis number being calibrated
point_num	int	Range [1,2], current calibration point number

{
  "axis_num": 1,
  "point_num": 1
}

Host Requests Track to Move to Marker Point

Command Word: 0x3743

Parameter	Type	Range/Description
axis_num	int	Range [1,3], current axis number being calibrated
point_num	int	Range [1,2], current calibration point number

{
  "axis_num": 1,
  "point_num": 1
}

Host Track Calibration Point Calculation Request

Command Word: 0x3744

Parameter	Type	Range/Description
axis_num	int	Range [1,3], current axis number being calibrated

{
  "axis_num": 1
}

Controller Replies Calibration Calculation Result to Host

Command Word: 0x3745

Parameter	Type	Range/Description
axis_num	int	Range [1,3], track axis number
direction_ratio	double[]	Direction calibration coefficient. Parameters are X direction coefficient, Y direction coefficient, Z direction coefficient

{
  "axis_num": 1,
  "direction_ratio": [1.0, 0.0, 0.0]
}