Teleoperation

3D Mouse

Host Computer Sets 3D Mouse Parameters

Command: 0x4600

Parameter Name	Type	Range	Description
ABC	int	[4,6]	Attitude control: 4 means A selected, 5 means B selected, 6 means C selected
mouseSen	double[4]	[0,300]	3D mouse sensitivity list, including X direction sensitivity, Y direction sensitivity, Z direction sensitivity, attitude sensitivity

Request Example:

{
  "ABC": 4,
  "mouseSen": [128.0, 128.0, 128.0, 128.0]
}

Host Computer Queries 3D Mouse Parameters

Command: 0x4601

Request Example:

{}

Controller Replies 3D Mouse Parameters to Host Computer

Command: 0x4602

Parameter Name	Type	Range	Description
ABC	int	[4,6]	Attitude control: 4 means A selected, 5 means B selected, 6 means C selected
enable	bool	-	3D mouse enable
mouseSen	double[4]	[0,300]	3D mouse sensitivity list, including X/Y/Z direction sensitivity and attitude sensitivity

Response Example:

{
  "ABC": 4,
  "enable": false,
  "mouseSen": [128.0, 128.0, 128.0, 128.0]
}

Host Computer Requests Marking 3D Mouse Zero Point

Command: 0x4603

Request Example:

{}

Host Computer Queries 3D Mouse Zero Point Marking Status

Command: 0x4604

Request Example:

{}

Controller Replies 3D Mouse Zero Point Marking Status to Host Computer

Command: 0x4605

Parameter Name	Type	Range	Description
zeroTagged	int	[0,1]	3D mouse zero point marking status: 0 means not marked, 1 means marked

Response Example:

{
  "zeroTagged": 0
}

Host Computer Requests Marking 3D Mouse Positive Direction

Command: 0x4606

Parameter Name	Type	Range	Description
axis	int	[1,3]	Direction to mark: 1 for X direction, 2 for Y direction, 3 for Z direction

Request Example:

{
  "axis": 1
}

Host Computer Queries 3D Mouse Positive Direction Marking Status

Command: 0x4607

Request Example:

{}

Controller Replies 3D Mouse Positive Direction Marking Status to Host Computer

Command: 0x4608

Parameter Name	Type	Range	Description
xTagged	int	[0,2]	X positive direction marking status: 0 for uncalibrated, 1 for calibrated, 2 for communication failure
yTagged	int	[0,2]	Y positive direction marking status: 0 for uncalibrated, 1 for calibrated, 2 for communication failure
zTagged	int	[0,2]	Z positive direction marking status: 0 for uncalibrated, 1 for calibrated, 2 for communication failure

Response Example:

{
  "xTagged": 2,
  "yTagged": 0,
  "zTagged": 0
}

Host Computer Sets 3D Mouse Parameter Page Return

Command: 0x4609

Parameter Name	Type	Description
pageBack	int	Host computer page leaves 3D mouse parameter page

Request Example:

{
  "pageBack": 1
}

Host Computer Sets 3D Mouse Port Number

Command: 0x460A

Parameter Name	Type	Range	Description
port	int	[1,10]	3D mouse port number

Request Example:

{
  "port": 1
}

Host Computer Queries 3D Mouse Port Number

Command: 0x460B

Request Example:

{}

Controller Replies 3D Mouse Port Number to Host Computer

Command: 0x460C

Parameter Name	Type	Range	Description
port	int	[1,10]	3D mouse port number

Response Example:

{
  "port": 1
}

---

Six-Axis Force/Torque Sensor

Description

The six-axis force/torque sensor is installed at the robot end-effector, obtaining force variations through the sensor end sensing area.

The basic parameters of the six-axis force/torque sensor are set in 0x4000, including sensor mass and center of mass. They must be written before zero calibration calculation, otherwise the zero calibration calculation result will be incorrect.

When using the six-axis force/torque sensor for torque dragging and position dragging, no-load zero calibration must be performed after sensor installation. If additional drag handles need to be installed, payload calculation must be performed after zero calibration.

When using the six-axis force/torque sensor for torque dragging, friction compensation is performed when each axis torque conversion data exceeds the joint friction compensation threshold.

Host Computer Requests Calculation of Six-Axis Force/Torque Sensor Payload Parameters

Command: 0x4620

Request Example:

{}

Host Computer Queries Six-Axis Force/Torque Sensor Payload Parameter Calculation Results

Command: 0x4621

Request Example:

{}

Controller Replies Calculated Payload Parameters of Six-Axis Force/Torque Sensor to Host Computer

Command: 0x4622

Parameter Name	Type	Unit	Description
isFinished	bool	-	Whether payload calculation trajectory has finished running (only exists when replying to 0x4620)
runSuccess	bool	-	Whether payload parameters are calculated successfully (only exists when replying to 0x4620)
payloadMass	double	kg	Calculated payload block mass (only exists when replying to 0x4621)
payloadMassCenterX	double	m	Calculated payload block center of mass X (only exists when replying to 0x4621)
payloadMassCenterY	double	m	Calculated payload block center of mass Y (only exists when replying to 0x4621)
payloadMassCenterZ	double	m	Calculated payload block center of mass Z (only exists when replying to 0x4621)

Response Example:

{
  "isFinished": true,
  "runSuccess": true,
  "payloadMass": 0.0,
  "payloadMassCenterX": 0.0,
  "payloadMassCenterY": 0.0,
  "payloadMassCenterZ": 0.0
}

Host Computer Queries Six-Axis Force/Torque Sensor Data

Command: 0x4623

Request Example:

{}

Controller Replies Six-Axis Force/Torque Sensor Data to Host Computer

Command: 0x4624

Parameter Name	Type	Unit	Description
fxData	double	N	Sensor X direction force raw data
fyData	double	N	Sensor Y direction force raw data
fzData	double	N	Sensor Z direction force raw data
mxData	double	Nm	Sensor X direction torque raw data
myData	double	Nm	Sensor Y direction torque raw data
mzData	double	Nm	Sensor Z direction torque raw data
peelOffValue	object	-	Sensor peel-off data, this node exists after sensor zero calibration
fxDataSubBase	double	N	Sensor X direction force peel-off data
fyDataSubBase	double	N	Sensor Y direction force peel-off data
fzDataSubBase	double	N	Sensor Z direction force peel-off data
mxDataSubBase	double	Nm	Sensor X direction torque peel-off data
myDataSubBase	double	Nm	Sensor Y direction torque peel-off data
mzDataSubBase	double	Nm	Sensor Z direction torque peel-off data
sensorConnect	bool	-	Sensor connection status: true for connected, false for not connected
torqueConvertData	object	-	Axis torque values caused by additional force on six-axis force/torque sensor, this node exists when robot enters torque dragging
axis1Data	double	permil	Axis 1 torque conversion data
axis2Data	double	permil	Axis 2 torque conversion data
axis3Data	double	permil	Axis 3 torque conversion data
axis4Data	double	permil	Axis 4 torque conversion data
axis5Data	double	permil	Axis 5 torque conversion data
axis6Data	double	permil	Axis 6 torque conversion data

Response Example:

{
  "fxData": -7.48328,
  "fyData": 4.0964,
  "fzData": 34.09224,
  "mxData": 0.4361,
  "myData": -0.01078,
  "mzData": 0.1176,
  "peelOffValue": {
    "fxDataSubBase": 0.324231194364,
    "fyDataSubBase": -0.550949927519,
    "fzDataSubBase": 5.315393681562,
    "mxDataSubBase": 0.254721004374,
    "myDataSubBase": -0.23501051027,
    "mzDataSubBase": 0.003892025499
  },
  "sensorConnect": true,
  "torqueConvertData": {
    "axis1Data": 4.350304342178,
    "axis2Data": -31.252106163066,
    "axis3Data": -67.928968119182,
    "axis4Data": 8.274872052417,
    "axis5Data": 15.919933464577,
    "axis6Data": 0.318515582768
  }
}

Host Computer Requests Six-Axis Force/Torque Sensor Zero Calibration

Command: 0x4625

Request Example:

{}

Controller Replies Six-Axis Force/Torque Sensor Zero Calibration Result to Host Computer

Command: 0x4626

Parameter Name	Type	Description
isFinished	bool	Whether zero calibration trajectory has finished running
isSaved	bool	Whether zero calibration data is saved successfully

Response Example:

{
  "isFinished": true,
  "isSaved": true
}

Host Computer Requests Saving Six-Axis Force/Torque Sensor Payload Calculation Result to Tool Hand

Command: 0x4627

Parameter Name	Type	Range	Description
targetTool	int	[1,999]	Tool hand number to save to

Request Example:

{
  "targetTool": 5
}

Controller Replies Six-Axis Force/Torque Sensor Payload Calculation Result Saved to Tool Hand

Command: 0x4628

Parameter Name	Type	Description
result	bool	Whether data is saved successfully

Response Example:

{
  "result": true
}

Host Computer Sets Joint Friction Compensation Threshold

Command: 0x4629

Parameter Name	Type	Range	Description
sensorJointThreshold1	int	[1,999999]	Axis 1 joint friction compensation threshold
sensorJointThreshold2	int	[1,999999]	Axis 2 joint friction compensation threshold
sensorJointThreshold3	int	[1,999999]	Axis 3 joint friction compensation threshold
sensorJointThreshold4	int	[1,999999]	Axis 4 joint friction compensation threshold
sensorJointThreshold5	int	[1,999999]	Axis 5 joint friction compensation threshold
sensorJointThreshold6	int	[1,999999]	Axis 6 joint friction compensation threshold

Request Example:

{
  "sensorJointThreshold1": 50,
  "sensorJointThreshold2": 50,
  "sensorJointThreshold3": 50,
  "sensorJointThreshold4": 50,
  "sensorJointThreshold5": 50,
  "sensorJointThreshold6": 50
}

Host Computer Queries Joint Friction Compensation Coefficient

Command: 0x462A

Request Example:

{}

Controller Replies Joint Friction Compensation Coefficient to Host Computer

Command: 0x462B

Parameter Name	Type	Range	Description
sensorJointThreshold1	int	[1,999999]	Axis 1 joint friction compensation threshold
sensorJointThreshold2	int	[1,999999]	Axis 2 joint friction compensation threshold
sensorJointThreshold3	int	[1,999999]	Axis 3 joint friction compensation threshold
sensorJointThreshold4	int	[1,999999]	Axis 4 joint friction compensation threshold
sensorJointThreshold5	int	[1,999999]	Axis 5 joint friction compensation threshold
sensorJointThreshold6	int	[1,999999]	Axis 6 joint friction compensation threshold

Response Example:

{
  "sensorJointThreshold1": 50,
  "sensorJointThreshold2": 50,
  "sensorJointThreshold3": 50,
  "sensorJointThreshold4": 50,
  "sensorJointThreshold5": 50,
  "sensorJointThreshold6": 50
}

Host Computer Sets Sensor Basic Parameters

Command: 0x4630

Parameter Name	Type	Description
sensorMass	double	Sensor mass
sensorMassCenterX	double	Sensor center of mass X
sensorMassCenterY	double	Sensor center of mass Y
sensorMassCenterZ	double	Sensor center of mass Z

Request Example:

{
  "sensorMass": 0,
  "sensorMassCenterX": 0,
  "sensorMassCenterY": 0,
  "sensorMassCenterZ": 0
}

Host Computer Gets Sensor Basic Parameters

Command: 0x4631

Request Example:

{}

Controller Replies Sensor Basic Parameters

Command: 0x4632

Parameter Name	Type	Description
sensorMass	double	Sensor mass
sensorMassCenterX	double	Sensor center of mass X
sensorMassCenterY	double	Sensor center of mass Y
sensorMassCenterZ	double	Sensor center of mass Z

Response Example:

{
  "sensorMass": 0,
  "sensorMassCenterX": 0,
  "sensorMassCenterY": 0,
  "sensorMassCenterZ": 0
}

Sensor Peel-Off Data Clear

Command: 0x4633

Request Example:

{}

Sensor Data Calibration

Command: 0x4634

Request Example:

{}

Controller Replies Sensor Data Calibration Result

Command: 0x4635

Parameter Name	Type	Description
runSuccess	bool	Trajectory execution result
isFinished	bool	Calibration finished

Response Example:

{
  "runSuccess": true,
  "isFinished": true
}

Host Computer Sets Six-Axis Force/Torque Sensor Communication Parameters

Command: 0x462C

Parameter Name	Type	Range/Value	Description
etherCat.mapNum	int	-	Selected communication device number: 0 for not selected
modbus.RTU.endian	int	[0,3]	FLOAT endian: 0 for AB CD, 1 for CD AB, 2 for BA DC, 3 for DC BA
modbus.RTU.checkBit	string	'N','E','O'	Check bit
modbus.RTU.dataBit	int	[5,8]	Data bits
modbus.RTU.stopBit	int	[1,2]	Stop bits
modbus.RTU.addressNum	int	[0,125]	Number of slave addresses
modbus.RTU.addressType	int	[0,1]	Address type: 0 for 3x, 1 for 4x
modbus.RTU.baudRate	int	-	Baud rate
modbus.RTU.firstAddress	int	(0,65535]	Register first address
modbus.RTU.port	int	(0,65535]	Port number
modbus.RTU.slaveID	int	(0,65535]	Slave ID
modbus.TCP.IP	string	-	IP address
modbus.TCP.port	int	(0,65535]	Port number
modbus.TCP.addressType	int	[0,1]	Address type: 0 for 3x, 1 for 4x
modbus.TCP.firstAddress	int	[0,65535]	Register first address
modbus.TCP.addressNum	int	[0,125]	Number of slave addresses
modbus.TCP.endian	int	[0,3]	FLOAT endian: 0 for AB CD, 1 for CD AB, 2 for BA DC, 3 for DC BA
YDirection	int	1/-1	Sensor Y direction: 1 for Y positive direction pointing left, -1 for Y positive direction pointing right
originDataInitialPara	int	[0,999]	Raw data starting variable: 0 for none, other values indicate storage to global variable position, sequentially storing six sensor raw data values
sensorCommunicationType	int	[0,1]	Sensor communication type: 0 for etherCat, 1 for Modbus RTU
sensorConnectStatus	bool	-	Sensor communication enable (this node can be set independently)
sensorDragEnable	bool	-	Sensor drag enable: false means sensor data does not participate in torque drag calculation
startupAutoConnectSensor	bool	-	Auto-connect sensor on startup

Request Example:

{
  "etherCat": {
    "mapNum": 0
  },
  "modbus": {
    "RTU": {
      "endian": 1,
      "checkBit": "N",
      "dataBit": 5,
      "stopBit": 1,
      "addressNum": 1,
      "addressType": 0,
      "baudRate": 115200,
      "firstAddress": 1,
      "port": 1,
      "slaveID": 1
    },
    "TCP": {
      "IP": "192.168.1.14",
      "port": 503,
      "addressType": 0,
      "firstAddress": 1,
      "addressNum": 1,
      "endian": 1
    }
  },
  "YDirection": 1,
  "originDataInitialPara": 0,
  "sensorCommunicationType": 0,
  "sensorConnectStatus": false,
  "sensorDragEnable": true,
  "startupAutoConnectSensor": true
}

Host Computer Queries Six-Axis Force/Torque Sensor Communication Parameters

Command: 0x462D

Request Example:

{}

Controller Replies Six-Axis Force/Torque Sensor Communication Parameters to Host Computer

Command: 0x462E

Parameter Name	Type	Range/Value	Description
etherCat.mapNum	int	-	Selected communication device number: 0 for not selected
modbus.RTU.endian	int	[0,3]	FLOAT endian: 0 for AB CD, 1 for CD AB, 2 for BA DC, 3 for DC BA
modbus.RTU.checkBit	string	'N','E','O'	Check bit
modbus.RTU.dataBit	int	[5,8]	Data bits
modbus.RTU.stopBit	int	[1,2]	Stop bits
modbus.RTU.addressNum	int	[0,125]	Number of slave addresses
modbus.RTU.addressType	int	[0,1]	Address type: 0 for 3x, 1 for 4x
modbus.RTU.baudRate	int	-	Baud rate
modbus.RTU.firstAddress	int	(0,65535]	Register first address
modbus.RTU.port	int	(0,65535]	Port number
modbus.RTU.slaveID	int	(0,65535]	Slave ID
modbus.TCP.IP	string	-	IP address
modbus.TCP.port	int	(0,65535]	Port number
modbus.TCP.addressType	int	[0,1]	Address type: 0 for 3x, 1 for 4x
modbus.TCP.firstAddress	int	[0,65535]	Register first address
modbus.TCP.addressNum	int	[0,125]	Number of slave addresses
modbus.TCP.endian	int	[0,3]	FLOAT endian: 0 for AB CD, 1 for CD AB, 2 for BA DC, 3 for DC BA
YDirection	int	1/-1	Sensor Y direction: 1 for Y positive direction pointing left, -1 for Y positive direction pointing right
originDataInitialPara	int	[0,999]	Raw data starting variable: 0 for none, other values indicate storage to global variable position, sequentially storing six sensor raw data values
sensorCommunicationType	int	[0,1]	Sensor communication type: 0 for etherCat, 1 for Modbus RTU
sensorConnectStatus	bool	-	Sensor communication enable (this node can be set independently)
sensorDragEnable	bool	-	Sensor drag enable: false means sensor data does not participate in torque drag calculation
startupAutoConnectSensor	bool	-	Auto-connect sensor on startup

Response Example:

{
  "etherCat": {
    "mapNum": 0
  },
  "modbus": {
    "RTU": {
      "endian": 1,
      "checkBit": "N",
      "dataBit": 5,
      "stopBit": 1,
      "addressNum": 1,
      "addressType": 0,
      "baudRate": 115200,
      "firstAddress": 1,
      "port": 1,
      "slaveID": 1
    },
    "TCP": {
      "IP": "192.168.1.14",
      "port": 503,
      "addressType": 0,
      "firstAddress": 1,
      "addressNum": 1,
      "endian": 1
    }
  },
  "YDirection": 1,
  "originDataInitialPara": 0,
  "sensorCommunicationType": 0,
  "sensorConnectStatus": false,
  "sensorDragEnable": true,
  "startupAutoConnectSensor": true
}

Host Computer Sets Six-Axis Force/Torque Sensor Admittance Drag Parameters

Command: 0x408E

Parameter Name	Type	Range	Description
dragDamper	double[6]	First 3 [0,100], last 3 [0,50]	Damping coefficient list, under Cartesian coordinate system XYZABC
dragInPosMaxAngleVel	double	(0,90]	Drag maximum angular velocity, unit: deg/s
dragInPosMaxVel	double	(0,2]	Drag maximum linear velocity, unit: m/s
dragInPosMode	int	[0,2]	Drag mode: 0 for free drag, 1 for position drag, 2 for pose drag
dragMass	double[6]	First 3 [5,100], last 3 [0.3,30]	Mass coefficient list
dragChangeRate	double[6]	-	Change rate threshold
dragTh.xyz	double	-	Position start threshold
dragTh.abc	double	-	Attitude start threshold

Request Example:

{
  "dragDamper": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "dragInPosMaxAngleVel": 5.0,
  "dragInPosMaxVel": 2.0,
  "dragInPosMode": 0,
  "dragMass": [5.0, 5.0, 5.0, 0.30, 0.30, 0.30],
  "dragChangeRate": [10, 10, 10, 5, 5, 5],
  "dragTh": {
    "xyz": 5,
    "abc": 1
  }
}

Host Computer Queries Six-Axis Force/Torque Sensor Admittance Drag Parameters

Command: 0x408F

Parameter Name	Type	Range	Description
dragInPosMode	int	[0,2]	Drag mode: 0 for free drag, 1 for position drag, 2 for pose drag

Request Example:

{
  "dragInPosMode": 0
}

Controller Replies Six-Axis Force/Torque Sensor Admittance Drag Parameters to Host Computer

Command: 0x4090

Parameter Name	Type	Range	Description
dragDamper	double[6]	First 3 [0,100], last 3 [0,50]	Damping coefficient list, under Cartesian coordinate system XYZABC
dragInPosMaxAngleVel	double	(0,90]	Drag maximum angular velocity, unit: deg/s
dragInPosMaxVel	double	(0,2]	Drag maximum linear velocity, unit: m/s
dragInPosMode	int	[0,2]	Drag mode: 0 for free drag, 1 for position drag, 2 for pose drag
dragMass	double[6]	First 3 [5,100], last 3 [0.3,30]	Mass coefficient list
dragChangeRate	double[6]	-	Change rate threshold
dragTh.xyz	double	-	Position start threshold
dragTh.abc	double	-	Attitude start threshold

Response Example:

{
  "dragDamper": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "dragInPosMaxAngleVel": 5.0,
  "dragInPosMaxVel": 2.0,
  "dragInPosMode": 0,
  "dragMass": [5.0, 5.0, 5.0, 0.30, 0.30, 0.30],
  "dragChangeRate": [10, 10, 10, 5, 5, 5],
  "dragTh": {
    "xyz": 5,
    "abc": 1
  }
}

---

Joint Torque Sensor Drag

Set Joint Sensor Parameters

Command: 0x4636

Parameter Name	Type	Description
jointSensorSwitch	bool	Enable sensor

Request Example:

{
  "jointSensorSwitch": true
}

Get Sensor Parameters

Command: 0x4637

Request Example:

{}

Return Sensor Parameters

Command: 0x4638

Parameter Name	Type	Description
jointSensorSwitch	bool	Sensor enabled: true for enabled, false for not enabled

Response Example:

{
  "jointSensorSwitch": true
}

Get Sensor Data

Command: 0x4639

Request Example:

{}

Return Sensor Data

Command: 0x463A

Parameter Name	Type	Description
jointSensorConnect	bool	Sensor connection status: true for connected, false for not connected
axis1Data	double	Axis 1 sensor data
axis2Data	double	Axis 2 sensor data
axis3Data	double	Axis 3 sensor data
axis4Data	double	Axis 4 sensor data
axis5Data	double	Axis 5 sensor data
axis6Data	double	Axis 6 sensor data

Response Example:

{
  "jointSensorConnect": true,
  "axis1Data": 1,
  "axis2Data": 1,
  "axis3Data": 1,
  "axis4Data": 1,
  "axis5Data": 1,
  "axis6Data": 1
}