Following Error & Motor Overload Protection

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1. Maximum Following Error Limit

1.1 Host Sets Maximum Following Error Parameter Limit

Command Word: 0x3860

Parameter List:

Parameter	Type	Description	Range
maxDynamicDeviations	int[6]	Maximum dynamic error	[1, 2×10⁷] ‱°
maxStaticDeviations	int[6]	Maximum static error	[1, 2×10⁷] ‱°

Request Example:

{
  "maxDynamicDeviations": [5000000, 5000000, 5000000, 5000000, 5000000, 5000000],
  "maxStaticDeviations": [5000000, 5000000, 5000000, 5000000, 5000000, 5000000]
}

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1.2 Host Queries Maximum Following Error Parameter Limit

Command Word: 0x3861

Parameter List:

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

Request Example:

{
  "robot": 1
}

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1.3 Controller Replies Maximum Following Error Parameter Limit to Host

Command Word: 0x3862

Parameter List:

Parameter	Type	Description	Range
maxDynamicDeviations	int[6]	Maximum dynamic error	[1, 2×10⁷] ‱°
maxStaticDeviations	int[6]	Maximum static error	[1, 2×10⁷] ‱°
robot	int	Current robot number	[1, 4]

Response Example:

{
  "maxDynamicDeviations": [5000000, 5000000, 5000000, 5000000, 5000000, 5000000],
  "maxStaticDeviations": [5000000, 5000000, 5000000, 5000000, 5000000, 5000000],
  "robot": 1
}

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2. Current Following Error (Monitoring)

2.1 Host Queries Current Following Error

Command Word: 0x3870

Parameter List:

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

Request Example:

{
  "robot": 1
}

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2.2 Controller Replies Current Following Error to Host

Command Word: 0x3871

Parameter List:

Parameter	Type	Description	Dimension
curDeviations	double[7]	Current robot error list	unit ‱°
curExternalDeviations	double[5]	Current external axis error list	unit ‱°
maxDeviations	double[7]	Maximum robot error list	unit ‱°
maxExternalDeviations	double[5]	Maximum external axis error list	unit ‱°
robot	int	Current robot number	[1, 4]

Response Example:

{
  "curDeviations": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "curExternalDeviations": [0.0, 0.0, 0.0, 0.0, 0.0],
  "maxDeviations": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "maxExternalDeviations": [0.0, 0.0, 0.0, 0.0, 0.0],
  "robot": 1
}

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3. Motor Overload Protection

3.1 Host Sets Motor Overload Protection Parameters

Command Word: 0x3880

Parameter List:

Parameter	Type	Description	Range
enable	bool	Motor overload protection enable	true/false
minLimiteTime	int	Motor overload protection minimum confirmation time	[10, 9999] ‰
robotLimit	int[6]	Motor torque overload value list	[0, 9999) ‰ or mNm
robot	int	Current robot number	[1, 4]

Request Example:

{
  "enable": false,
  "minLimiteTime": 10,
  "robot": 1,
  "robotLimit": [999, 999, 999, 999, 999, 999]
}

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3.2 Host Queries Motor Overload Protection Parameters

Command Word: 0x3881

Parameter List:

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

Request Example:

{
  "robot": 1
}

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3.3 Controller Replies Motor Overload Protection Parameters to Host

Command Word: 0x3882

Parameter List:

Parameter	Type	Description	Range
enable	bool	Motor overload protection enable	true/false
minLimiteTime	int	Motor overload protection minimum confirmation time	[10, 9999] ‰
robotLimit	int[6]	Motor torque overload value list	[0, 9999) ‰ or mNm
robot	int	Current robot number	[1, 4]

Response Example:

{
  "enable": false,
  "minLimiteTime": 10,
  "robot": 1,
  "robotLimit": [999, 999, 999, 999, 999, 999]
}

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4. Servo Speed Collision Detection

4.1 Set Servo Speed Collision Detection Parameters

Command Word: 0x40A0

Parameter List:

Parameter	Type	Description
switch	bool	Speed collision detection switch
speed_delay_time	int	Servo speed delay time
speed_enable_error	double	Servo speed allowable error

Request Example:

{
  "switch": true,
  "speed_delay_time": 10,
  "speed_enable_error": 10
}

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4.2 Host Gets Servo Speed Collision Detection Parameters

Command Word: 0x40A1

Parameter List:

None

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4.3 Controller Replies Servo Speed Collision Detection Parameters

Command Word: 0x40A2

Parameter List:

Parameter	Type	Description
switch	bool	Speed collision detection switch
speed_delay_time	int	Servo speed delay time
speed_enable_error	double	Servo speed allowable error

Response Example:

{
  "switch": true,
  "speed_delay_time": 10,
  "speed_enable_error": 10
}