Interference Zone

Interference Zone Range

Host Sets Interference Zone Range

Command Word: 0x3800

Field	Type	Range	Description
num	int	[1,99]	Process number
param	object	-	Interference zone parameters
robot	int	[1,4]	Current robot number

param Parameters:

Field	Type	Range	Description
varName	string	GB001-GB999	Used for interference zone output value
enable	bool	-	Interference zone enable
isInInterfer	int	[0,1]	Inside/outside zone: 0 means outside zone, 1 means inside zone
maxX	double	[-9999,9999] mm	Maximum X
maxY	double	[-9999,9999] mm	Maximum Y
maxZ	double	[-9999,9999] mm	Maximum Z
minX	double	[-9999,9999] mm	Minimum X
minY	double	[-9999,9999] mm	Minimum Y
minZ	double	[-9999,9999] mm	Minimum Z
port	int	-	Output IO port
value	int	[0,1]	Output parameter
workType	int	[0,1]	Action mode: 0 means status output, 1 means motion prohibited

Example:

{
  "num": 1,
  "param": {
    "enable": false,
    "isInInterfer": 1,
    "maxX": "1101.05",
    "maxY": "183.569",
    "maxZ": "1024.13",
    "minX": "833.956",
    "minY": "-173.017",
    "minZ": "944.358",
    "port": 0,
    "value": 0,
    "workType": 0
  },
  "robot": 1
}

---

Host Queries Interference Zone Range

Command Word: 0x3801

Field	Type	Range	Description
num	int	[1,99]	Current query process number
robot	int	[1,4]	Current robot number

Example:

{
  "num": 1,
  "robot": 1
}

---

Controller Replies Interference Zone Parameters/Interference Point Marking Result to Host

Command Word: 0x3802

Field	Type	Range	Description
num	int	[1,99]	Process number
param	object	-	Interference zone parameters
robot	int	[1,4]	Current robot number

param Parameters:

Field	Type	Range	Description
calibrationState1	int	[0,1]	Whether marker point 1 is calibrated: 0 means not calibrated, 1 means calibrated
calibrationState2	int	[0,1]	Whether marker point 2 is calibrated: 0 means not calibrated, 1 means calibrated
enable	bool	-	Interference zone enable
isInInterfer	int	[0,1]	Inside/outside zone: 0 means outside zone, 1 means inside zone
maxX	double	[-9999,9999] mm	Maximum X
maxY	double	[-9999,9999] mm	Maximum Y
maxZ	double	[-9999,9999] mm	Maximum Z
minX	double	[-9999,9999] mm	Minimum X
minY	double	[-9999,9999] mm	Minimum Y
minZ	double	[-9999,9999] mm	Minimum Z
point1Data	double[]	-	Marker point 1 position information list
point2Data	double[]	-	Marker point 2 position information list
port	int	-	Output IO port
value	int	[0,1]	Output parameter
workType	int	[0,1]	Action mode: 0 means status output, 1 means motion prohibited

Example:

{
  "num": 1,
  "param": {
    "calibrationState1": 0,
    "calibrationState2": 0,
    "enable": false,
    "isInInterfer": 1,
    "maxX": "1101.05",
    "maxY": "183.569",
    "maxZ": "1024.13",
    "minX": "833.956",
    "minY": "-173.017",
    "minZ": "944.358",
    "point1Data": [0, 0, 0, 0, 0, 0],
    "point2Data": [0, 0, 0, 0, 0, 0],
    "port": 0,
    "value": 0,
    "workType": 0
  },
  "robot": 1
}

---

Interference Point

Host Requests to Mark Interference Point

Command Word: 0x3810

Field	Type	Range	Description
calibrationState1	int	[0,1]	Marker point 1 status: 0 means calibrate, 1 means cancel calibration
calibrationState2	int	[0,1]	Marker point 2 status: 0 means calibrate, 1 means cancel calibration
num	int	[1,99]	Process number
pos	int	[1,2]	Marker point number: 1 means marker point 1, 2 means marker point 2
robot	int	[1,4]	Current robot number

Example:

{
  "calibrationState1": 1,
  "calibrationState2": 1,
  "num": 1,
  "pos": 1,
  "robot": 1
}

---

Host Requests Marking Completion Calculation

Command Word: 0x3811

Field	Type	Range	Description
num	int	[1,99]	Current query process number
robot	int	[1,4]	Current robot number

Example:

{
  "num": 1,
  "robot": 1
}

---

Host Requests to Move to Marker Point

Command Word: 0x3812

Field	Type	Range	Description
num	int	[1,99]	Current query process number
pos	int	[1,2]	Marker point number to move to
robot	int	[1,4]	Current robot number

Example:

{
  "num": 1,
  "pos": 1,
  "robot": 1
}