Independent Axis

Independent Axis Parameters

Set Independent Axis Interface Parameters

Command Word: 0x2800

Parameter Description:

Parameter	Type	Description
axisNum	int	Axis number
angularDistanceConversionRatioValue	double	Conversion ratio
isTrack	bool	Whether it is a track
encoderBitLineditValue	double	Encoder bit count
inverseLimitValue	double	Reverse limit
maximumPositiveSpeedValue	double	Maximum positive speed; unit: ratio
maximumReverseSpeedValue	double	Maximum reverse speed; unit: ratio
motorDir	int	Motor direction; 1: positive, -1: negative
positiveLimitValue	double	Positive limit
ratedPositiveSpeedValue	double	Rated positive speed; unit: rpm
ratedReverseSpeedValue	double	Rated reverse speed; unit: rpm
reductionRatioValue	double	Reduction ratio
maxAccValue	double	Maximum acceleration; unit: ratio of speed
maxDecValue	double	Maximum deceleration; unit: ratio of speed
selectBindServo	uint	Servo number to bind

Request Example:

{
  "independentAxisParameter": {
    "axisNum": 0,
    "angularDistanceConversionRatioValue": 0.0,
    "isTrack": false,
    "encoderBitLineditValue": 0.0,
    "inverseLimitValue": 0.0,
    "maximumPositiveSpeedValue": 0.0,
    "maximumReverseSpeedValue": 0.0,
    "motorDir": 0,
    "positiveLimitValue": 0.0,
    "ratedPositiveSpeedValue": 0.0,
    "ratedReverseSpeedValue": 0.0,
    "reductionRatioValue": 0.0,
    "maxAccValue": 0.0,
    "maxDecValue": 0.0,
    "selectBindServo": 0
  }
}

Host Queries Independent Axis Interface Parameters

Command Word: 0x2801

Parameter Description:

Parameter	Type	Description
axisNum	int	Axis number

Request Example:

{
  "axisNum": 1
}

Controller Returns Independent Axis Interface Parameters

Command Word: 0x2802

Return parameters are the same as the 0x2800 set command.

Host Queries Total Number of Independent Axes

Command Word: 0x2803

Parameter Description:

No request parameters.

Controller Returns Total Number of Independent Axes

Command Word: 0x2804

Parameter Description:

Parameter	Type	Description
axisSum	int	Total number of independent axes

Response Example:

{
  "axisSum": 2
}

Host Deletes an Independent Axis Parameter

Command Word: 0x2805

Parameter Description:

Parameter	Type	Description
axisNum	int	Axis number

Request Example:

{
  "axisNum": 2
}

Independent Axis Position

Host Queries Independent Axis Position

Command Word: 0x2806

Parameter Description:

Parameter	Type	Description
axisNum	int	Axis number

Request Example:

{
  "axisNum": 2
}

Controller Returns Independent Axis Position

Command Word: 0x2807

Parameter Description:

Parameter	Type	Description
currentPos	double	Current position

Response Example:

{
  "currentPos": 210.01
}

Independent Axis Zero Point Calibration

Command Word: 0x2808

Parameter Description:

Parameter	Type	Description
axisNum	int	Axis number

Request Example:

{
  "axisNum": 2
}

Axis Independent Control Dialog

Independent Control Axis PV Motion

Command Word: 0x30E0

Parameter Description:

Parameter	Type	Description	Range
robot	int	Robot number	[1,4]
axisNum	int	Axis number	-
vel	int	Axis speed; unit: rpm	[-6000,6000]
dir	int	Movement direction; 1: positive, -1: reverse	-
acc	double	Acceleration	-
dec	double	Deceleration	-

Request Example:

{
  "robot": 1,
  "axisNum": 1,
  "vel": 50,
  "dir": 1,
  "acc": 50.0,
  "dec": 50.0
}

Independent Control Axis PV Stop

Command Word: 0x30E1

Parameter Description:

Parameter	Type	Description	Range
robot	int	Robot number	[1,4]
axisNum	int	Axis number	-

Request Example:

{
  "robot": 1,
  "axisNum": 1
}

Cancel Axis Independent Control Motion

Command Word: 0x30E4

Parameter Description:

Parameter	Type	Description	Range
robot	int	Robot number	[1,4]
axisNum	int	Axis number	-

Request Example:

{
  "robot": 1,
  "axisNum": 1
}

Independent Axis Return to Zero

Command Word: 0x30E5

Parameter Description:

Parameter	Type	Description
axisNum	int	Independent axis number

Request Example:

{
  "axisNum": 2
}

Independent Axis Return to Zero Stop

Command Word: 0x30E6

Parameter Description:

Parameter	Type	Description
axisNum	int	Independent axis number

Request Example:

{
  "axisNum": 2
}

Independent Axis Jog

Command Word: 0x30E7

Parameter Description:

Parameter	Type	Description	Range
axisNum	int	Independent axis number	-
vel	int	Speed; unit: rpm	-
acc	double	Acceleration	-
dec	double	Deceleration	-
dir	int	Movement direction; 1: positive, -1: reverse	-

Request Example:

{
  "axisNum": 2,
  "vel": 5,
  "acc": 50.0,
  "dec": 50.0,
  "dir": 1
}