Remote Program
Reservation Execution Status
Sent when the host computer queries the reservation execution status on the remote mode interface.
Command Word: 0x5500
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
Request Example
json
{
"robot": 1
}Controller replies with reservation execution status query result.
Command Word: 0x5501
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| robot | int | Select robot, range [1, 4] |
| current | object | Current task status |
| current.station | int | Station number |
| current.name | string | Program name |
| current.runtime | int | Run time |
| current.times | int | Run count |
| current.count | int | Completed run count |
| current.status | int | Status: 0-No reservation, 1-Reserving, 2-Running, 3-Reserved, 4-Program paused |
| queue | array | Reservation queue |
| queue[].station | int | Station number |
| queue[].name | string | Program name |
| queue[].times | int | Run count |
| queue[].count | int | Completed run count |
| queue[].status | int | Status |
Response Example
json
{
"robot": 1,
"current": {
"station": 1,
"name": "Q1",
"runtime": 1,
"times": 3,
"count": 1,
"status": 2
},
"queue": [
{
"station": 1,
"name": "Q4",
"times": 2,
"count": 0,
"status": 1
},
{
"station": 1,
"name": "Q1",
"times": 6,
"count": 0,
"status": 1
},
{
"station": 1,
"name": "Q3",
"times": 1,
"count": 0,
"status": 1
},
{
"station": 1,
"name": "",
"times": 1,
"count": 0,
"status": 0
},
{
"station": 1,
"name": "",
"times": 2,
"count": 0,
"status": 0
}
]
}Remote Status
Host computer sends remote control setting.
Command Word: 0x5510
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| remotectl | bool | Yes | Remote control status |
Request Example
json
{
"remotectl": false
}Host computer sends remote control query.
Command Word: 0x5511
date: none
Controller replies to query.
Command Word: 0x5512
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| remotectl | bool | Remote control status |
Response Example
json
{
"remotectl": false
}Remote Program
Host computer sends set remote program.
Command Word: 0x5520
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
| jobFile | array | Yes | Program list |
| jobFile[].name | string | Yes | Program name |
| jobFile[].times | int | Yes | Run count |
| interpolationMethod | int | No | Interpolation method |
| absolutePosResolution | double | No | Absolute position resolution |
| stopTime | int | No | Pause time |
| runDelayTime | int | No | Run delay time |
| remoteDefaultSpeed | int | No | Remote mode speed 1-100% |
Request Example
json
{
"robot": 1,
"jobFile": [
{"name": "Q1", "times": 3},
{"name": "Q2", "times": 3},
{"name": "", "times": 1},
{"name": "Q4", "times": 2},
{"name": "", "times": 1}
],
"interpolationMethod": 4,
"absolutePosResolution": 0.06,
"stopTime": 5,
"runDelayTime": 600,
"remoteDefaultSpeed": 1
}Host computer sends get remote program.
Command Word: 0x5521
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
Request Example
json
{
"robot": 1
}Controller replies when receiving host computer program name query.
Command Word: 0x5522
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| robot | int | Select robot, range [1, 4] |
| jobFile | array | Program list |
| jobFile[].name | string | Program name |
| jobFile[].times | int | Run count |
| remoteProgramNum | int | Remote program count |
Response Example
json
{
"jobFile": [
{"name": "Q1", "times": 3},
{"name": "Q2", "times": 3},
{"name": "", "times": 1},
{"name": "Q4", "times": 2},
{"name": "", "times": 1},
{"name": "", "times": 0},
{"name": "", "times": 0},
{"name": "", "times": 0},
{"name": "", "times": 0},
{"name": "", "times": 0}
],
"remoteProgramNum": 10,
"robot": 1
}Remote Mode Parameter Settings
Host computer sends remote mode parameter settings.
Command Word: 0x5530
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
| waitingTime | double | No | IO repeat trigger time |
| reserveIsStart | int | No | Auto start running after reservation IO: 0-Off, 1-On |
| interpolationMethod | int | No | Interpolation method |
| reserveTrgTime | double | No | Remote mode IO reservation and start time (milliseconds) |
| absolutePosResolution | int | No | Absolute position resolution |
| stopTime | int | No | Pause time |
| runDelayTime | int | No | Run delay time |
| remoteDefaultSpeed | int | No | Remote mode speed 1-100% |
Request Example
json
{
"robot": 1,
"waitingTime": 1,
"reserveIsStart": 0,
"interpolationMethod": 4,
"reserveTrgTime": 200,
"absolutePosResolution": 0.06,
"stopTime": 5,
"runDelayTime": 600,
"remoteDefaultSpeed": 1
}Host computer sends remote mode parameter query.
Command Word: 0x5531
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
Request Example
json
{
"robot": 1
}Controller replies with query result.
Command Word: 0x5532
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| remoteDefaultSpeed | int | Remote mode speed 1-100% |
| remoteProgramNum | int | Remote program count |
| reserveIsStart | bool | Auto start running after reservation IO: 0-Off, 1-On |
| waitingTime | int | IO repeat trigger time |
Response Example
json
{
"remoteDefaultSpeed": 1.0,
"remoteProgramNum": 10,
"reserveIsStart": false,
"waitingTime": 500
}Remote IO Function Interface Settings
Host computer sends set IO function interface.
Command Word: 0x5540
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
| remoteProgramNum | int | Yes | Remote IO function count |
| inPort | object | No | IO trigger port binding |
| inPort.clearoutagekeep | int | No | Clear power-off saved data, bound IO port: 0-None, 1-Port 1 |
| inPort.faultReset | int | No | Clear alarm, bound IO port |
| inPort.pause | int | No | Pause, bound IO port |
| inPort.start | int | No | Start, bound IO port |
| inPort.stop | int | No | Stop, bound IO port |
| inValue | object | No | IO parameters |
| inValue.clearoutagekeep | int | No | Clear power-off saved data, bound IO port trigger required state: 0-Low active, 1-High active |
| inValue.faultReset | int | No | Clear alarm, bound IO port trigger required state |
| inValue.pause | int | No | Pause, bound IO port trigger required state |
| inValue.start | int | No | Start, bound IO port trigger required state |
| inValue.stop | int | No | Stop, bound IO port trigger required state |
| program | array | No | Program list |
| program[].port | int | No | Port |
| program[].value | int | No | Value |
Request Example
json
{
"inPort": {
"clearoutagekeep": 0,
"faultReset": 0,
"pause": 0,
"start": 8,
"stop": 0
},
"inValue": {
"clearoutagekeep": 1,
"faultReset": 1,
"pause": 1,
"start": 1,
"stop": 1
},
"program": [
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1},
{"port": 0, "value": 1}
],
"remoteProgramNum": 10,
"robot": 1
}When querying IO function interface settings, host computer sends the following command.
Command Word: 0x5541
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
Request Example
json
{
"robot": 1
}IO function interface, controller replies when receiving query.
Command Word: 0x5542
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| robot | int | Select robot, range [1, 4] |
| remoteProgramNum | int | Remote IO function count |
| inPort | object | IO trigger port binding: 0-None, 1-Port 1 |
| inPort.clearoutagekeep | int | Clear power-off saved data, bound IO port |
| inPort.faultReset | int | Clear alarm, bound IO port |
| inPort.pause | int | Pause, bound IO port |
| inPort.start | int | Start, bound IO port |
| inPort.stop | int | Stop, bound IO port |
| inValue | object | IO parameters: 0-Low active, 1-High active |
| inValue.clearoutagekeep | int | Clear power-off saved data, bound IO port trigger required state |
| inValue.faultReset | int | Clear alarm, bound IO port trigger required state |
| inValue.pause | int | Pause, bound IO port trigger required state |
| inValue.start | int | Start, bound IO port trigger required state |
| inValue.stop | int | Stop, bound IO port trigger required state |
| program | array | Program list |
| program[].name | string | Program name |
| program[].port | int | Port |
| program[].value | int | Value |
| reserveTrgTime | int | IO repeat trigger mask time |
Response Example
json
{
"inPort": {
"clearoutagekeep": 0,
"faultReset": 0,
"pause": 0,
"start": 0,
"stop": 0
},
"inValue": {
"clearoutagekeep": 1,
"faultReset": 1,
"pause": 1,
"start": 1,
"stop": 1
},
"program": [
{"name": "Q1", "port": 0, "value": 1},
{"name": "Q2", "port": 0, "value": 1},
{"name": "", "port": 0, "value": 1},
{"name": "Q4", "port": 0, "value": 1},
{"name": "", "port": 0, "value": 1},
{"name": "", "port": 0, "value": 1},
{"name": "", "port": 0, "value": 1},
{"name": "", "port": 0, "value": 1},
{"name": "", "port": 0, "value": 1},
{"name": "", "port": 0, "value": 1}
],
"remoteProgramNum": 10,
"reserveTrgTime": 500,
"robot": 1
}Remote IO Status
Host computer sends remote status indication settings.
Command Word: 0x5550
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
| output | array | Yes | Output port list |
| output[].program1 ~ program10 | int | No | Output port number for remote IO programs 1-10 |
| output[].program_value1 ~ program_value10 | int | No | Output port value for each remote IO program |
Request Example
json
{
"robot": 1,
"output": [
{
"program1": 1,
"program2": 2,
"program3": 3,
"program4": 4,
"program5": 5,
"program6": 6,
"program7": 7,
"program8": 8,
"program9": 9,
"program10": 10,
"program_value1": 1,
"program_value2": 2,
"program_value3": 3,
"program_value4": 4,
"program_value5": 5,
"program_value6": 6,
"program_value7": 7,
"program_value8": 8,
"program_value9": 9,
"program_value10": 10
}
]
}Host computer queries remote status indication settings.
Command Word: 0x5551
Request Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
Request Example
json
{
"robot": 1
}Controller replies with query result.
Command Word: 0x5552
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| robot | int | Select robot, range [1, 4] |
| output | array | Output port list |
| output[].program1 ~ program10 | int | Output port number for remote IO programs 1-10 |
| output[].program_value1 ~ program_value10 | int | Output port value for each remote IO program |
Response Example
json
{
"robot": 1,
"output": [
{
"program1": 1,
"program2": 2,
"program3": 3,
"program4": 4,
"program5": 5,
"program6": 6,
"program7": 7,
"program8": 8,
"program9": 9,
"program10": 10,
"program_value1": 1,
"program_value2": 2,
"program_value3": 3,
"program_value4": 4,
"program_value5": 5,
"program_value6": 6,
"program_value7": 7,
"program_value8": 8,
"program_value9": 9,
"program_value10": 10
}
]
}Remote Mode Connection Status
Sent when querying Modbus and external IO connection status.
Command Word: 0x5560
date: none
Returns when receiving connection status query.
Command Word: 0x5561
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| ModbusConnect | bool | Modbus connection status: false-Not connected, true-Connected |
| ExternIOConnect | bool | External IO connection status: false-Not connected, true-Connected |
| type | int | Type: 0-NAN, 1-RTU, 2-TCP |
Response Example
json
{
"ModbusConnect": false,
"ExternIOConnect": true,
"type": 2
}Controller sends whether job file was modified via IO (when external button triggers job file modification, controller sends to host computer).
Command Word: 0x5562
Response Parameters
| Parameter | Type | Description |
|---|---|---|
| isModify | bool | Whether job file was modified via IO: true-Yes, false-No |
Response Example
json
{
"isModify": false
}