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IO ​

Status Indication ​

Note: The maximum port range is the current bound IO count; output mode range is [0,2], where 0 is 0, 1 is 1, 2 is blinking

Upper Computer Sets Status Indication Parameters ​

Command Word: 0x7100

Parameter Description:

ParameterTypeDescription
outPutarrayRobot status indication parameter list, length 4
outPut[].IOenableintRobot power-on status indication port
outPut[].IOenable_valueintRobot power-on status output mode, range [0,2]
outPut[].continuableintRobot can-continue status indication port
outPut[].continuable_valueintRobot can-continue status output mode, range [0,2]
outPut[].faultintRobot error status indication port
outPut[].faultIsFicklerintRobot error status output mode, range [0,2]
outPut[].mainJobFirstLineintRobot main program first line status indication port
outPut[].mainJobFirstLine_valueintRobot main program first line status output mode, range [0,2]
outPut[].pauseintRobot pause status indication port
outPut[].pause_valueintRobot pause status output mode, range [0,2]
outPut[].quickStopOut1intRobot emergency stop 1 status indication port
outPut[].quickStopOut2intRobot emergency stop 2 status indication port
outPut[].quickStopOutValue1intRobot emergency stop 1 status output mode, range [0,2]
outPut[].quickStopOutValue2intRobot emergency stop 2 status output mode, range [0,2]
outPut[].runningintRobot running status indication port
outPut[].running_valueintRobot running status output mode, range [0,2]
outPut[].stopintRobot stop status indication port
outPut[].stop_valueintRobot stop status output mode, range [0,2]
outPut[].teachBoxStateOutintTeach pendant disconnected output port (only exists for robot 1)
outPut[].teachBoxStateOutValueintTeach pendant disconnected output mode, range [0,2] (only exists for robot 1)
remoteOutintRemote mode status indication port
remoteOut_valueintRemote mode status output mode, range [0,2]
runOutintMotion mode status indication port
runOut_valueintMotion mode status output mode, range [0,2]
startUpintPower-on status indication port
startUp_valueintPower-on status output mode, range [0,2]
teachOutintTeach mode status indication port
teachOut_valueintTeach mode status output mode, range [0,2]

Request Example:

json
{
  "outPut":
  [
    {
      "IOenable":5,
      "IOenable_value":1,
      "continuable":8,
      "continuable_value":1,
      "fault":4,
      "faultIsFickler":1,
      "mainJobFirstLine":9,
      "mainJobFirstLine_value":2,
      "pause":2,
      "pause_value":1,
      "quickStopOut1":6,
      "quickStopOut2":7,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":1,
      "running_value":1,
      "stop":3,
      "stop_value":1,
      "teachBoxStateOut":17,
      "teachBoxStateOutValue":2
    },
    {
      "IOenable":0,
      "IOenable_value":1,
      "continuable":0,
      "continuable_value":1,
      "fault":0,
      "faultIsFickler":1,
      "mainJobFirstLine":24,
      "mainJobFirstLine_value":0,
      "pause":0,
      "pause_value":1,
      "quickStopOut1":0,
      "quickStopOut2":0,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":0,
      "running_value":1,
      "stop":0,
      "stop_value":1
    },
    {
      "IOenable":0,
      "IOenable_value":1,
      "continuable":0,
      "continuable_value":1,
      "fault":0,
      "faultIsFickler":0,
      "mainJobFirstLine":0,
      "mainJobFirstLine_value":1,
      "pause":0,
      "pause_value":1,
      "quickStopOut1":0,
      "quickStopOut2":0,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":0,
      "running_value":1,
      "stop":0,
      "stop_value":1
    },
    {
      "IOenable":0,
      "IOenable_value":1,
      "continuable":0,
      "continuable_value":1,
      "fault":0,
      "faultIsFickler":0,
      "mainJobFirstLine":0,
      "mainJobFirstLine_value":1,
      "pause":0,
      "pause_value":1,
      "quickStopOut1":0,
      "quickStopOut2":0,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":0,
      "running_value":1,
      "stop":0,
      "stop_value":1
    }
  ],
  "remoteOut":19,
  "remoteOut_value":2,
  "runOut":20,
  "runOut_value":2,
  "startUp":18,
  "startUp_value":0,
  "teachOut":21,
  "teachOut_value":2
}

Upper Computer Queries Status Indication Parameters ​

Command Word: 0x7101

Request Example:

json
{}

Controller Replies with Status Indication Parameters ​

Command Word: 0x7102

Parameter Description:

ParameterTypeDescription
outPutarrayRobot status indication parameter list, length 4
remoteOutintRemote mode status indication port
remoteOut_valueintRemote mode status output mode, range [0,2]
runOutintMotion mode status indication port
runOut_valueintMotion mode status output mode, range [0,2]
startUpintPower-on status indication port
startUp_valueintPower-on status output mode, range [0,2]
teachOutintTeach mode status indication port
teachOut_valueintTeach mode status output mode, range [0,2]

Response Example:

json
{
  "outPut":
  [
    {
      "IOenable":5,
      "IOenable_value":1,
      "continuable":8,
      "continuable_value":1,
      "fault":4,
      "faultIsFickler":1,
      "mainJobFirstLine":9,
      "mainJobFirstLine_value":2,
      "pause":2,
      "pause_value":1,
      "quickStopOut1":6,
      "quickStopOut2":7,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":1,
      "running_value":1,
      "stop":3,
      "stop_value":1,
      "teachBoxStateOut":17,
      "teachBoxStateOutValue":2
    },
    {
      "IOenable":0,
      "IOenable_value":1,
      "continuable":0,
      "continuable_value":1,
      "fault":0,
      "faultIsFickler":1,
      "mainJobFirstLine":24,
      "mainJobFirstLine_value":0,
      "pause":0,
      "pause_value":1,
      "quickStopOut1":0,
      "quickStopOut2":0,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":0,
      "running_value":1,
      "stop":0,
      "stop_value":1
    },
    {
      "IOenable":0,
      "IOenable_value":1,
      "continuable":0,
      "continuable_value":1,
      "fault":0,
      "faultIsFickler":0,
      "mainJobFirstLine":0,
      "mainJobFirstLine_value":1,
      "pause":0,
      "pause_value":1,
      "quickStopOut1":0,
      "quickStopOut2":0,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":0,
      "running_value":1,
      "stop":0,
      "stop_value":1
    },
    {
      "IOenable":0,
      "IOenable_value":1,
      "continuable":0,
      "continuable_value":1,
      "fault":0,
      "faultIsFickler":0,
      "mainJobFirstLine":0,
      "mainJobFirstLine_value":1,
      "pause":0,
      "pause_value":1,
      "quickStopOut1":0,
      "quickStopOut2":0,
      "quickStopOutValue1":1,
      "quickStopOutValue2":1,
      "running":0,
      "running_value":1,
      "stop":0,
      "stop_value":1
    }
  ],
  "remoteOut":19,
  "remoteOut_value":2,
  "runOut":20,
  "runOut_value":2,
  "startUp":18,
  "startUp_value":0,
  "teachOut":21,
  "teachOut_value":2
}

IO Reset ​

Note: The "enable" and "value" fields both have length 128; the actual valid data is the current total IO port count; the excess defaults to 0

Upper Computer Sets IO Reset Parameters ​

Command Word: 0x7110

Parameter Description:

ParameterTypeDescription
enablearrayWhether to reset; bool type, length 128
robotintRobot number to set, range [1,4]
typeintReset type to set, range [1,3]
1: Remote IO reset
2: Mode switch stop
3: Program error
valuearrayOutput port reset value; int type, range [0,1], length 128

Request Example:

json
{
  "enable":[0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "robot":1,
  "type":1,
  "value":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
}

Upper Computer Queries IO Reset Parameters ​

Command Word: 0x7111

Parameter Description:

ParameterTypeDescription
robotintRobot number to query, range [1,4]
typeintReset type to query, range [1,3]
1: Remote IO reset
2: Mode switch stop
3: Program error

Request Example:

json
{
  "robot":1,
  "type":1
}

Controller Replies with IO Reset Parameters ​

Command Word: 0x7112

Parameter Description:

ParameterTypeDescription
enablearrayWhether to reset; bool type, length 128
robotintRobot number, range [1,4]
typeintReset type, range [1,3]
1: Remote IO reset
2: Mode switch stop
3: Program error
valuearrayOutput port reset value; int type, range [0,1], length 128

Response Example:

json
{
  "enable":[0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "robot":1,
  "type":1,
  "value":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
            0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
}

IO Function Status ​

Upper Computer Queries IO Function Status ​

Command Word: 0x7120

Parameter Description:

ParameterTypeDescription
typeintIO status type, range [1,4]
1: Digital input
2: Digital output
3: Analog input
4: Analog output

Request Example:

json
{
  "type":1
}

Controller Replies with IO Function Status ​

Command Word: 0x7121

Parameter Description:

ParameterTypeDescription
IOFunctionarrayIO function list; string type, length is the current IO port count
typeintIO status type, range [1,4]
1: Digital input
2: Digital output
3: Analog input
4: Analog output

Response Example:

json
{
  "IOFunction":["","","","","Drag:Drag teaching external trigger signal ","","","",
                "","","","","","Enable hardwired port 1 ","Safety:Robot1 emergency stop1 Safety:Robot2 emergency stop1 ","",
                "Remote:Robot1 start Remote:Robot1 program1 select ","","","","","","",
                "","","","","","","",""],
  "type":1
}

IO Configuration ​

Note: Serial analog IO parameters (if EtherCAT IO board has analog IO, this serial analog IO will be invalid)

Upper Computer Sets IO Configuration Parameters ​

Command Word: 0x7130

Parameter Description:

ParameterTypeDescription
serialAnalogobjectSerial analog parameters
serialAnalog.baudRateintBaud rate
serialAnalog.portintPort number, range (0,65535]
serialAnalog.typestringAnalog type
"DAC_ANAIO": DAC analog IO board
"SUPER_ANAIO": GeKong analog IO board
simuNumintVirtual IO count, range [0,4]

Request Example:

json
{
  "serialAnalog":
  {
    "baudRate":115200,
    "port":2,
    "type":"SUPER_ANAIO"
  },
  "simuNum":2
}

Upper Computer Queries IO Configuration Parameters ​

Command Word: 0x7131

Request Example:

json
{}

Controller Replies with IO Configuration Parameters ​

Command Word: 0x7132

Parameter Description:

ParameterTypeDescription
numintIO count (total count including physical IO and virtual IO)
portNumarray2D array of each IO port count; int type
First dimension is IO number, second dimension is in order: digital input port count, digital output port count, analog input port count, analog output port count
serialAnalogobjectSerial analog parameters
serialAnalog.baudRateintBaud rate
serialAnalog.portintPort number, range (0,65535]
serialAnalog.typestringAnalog type
simuNumintVirtual IO count, range [0,4]
typearrayConnected IO board model list; string type

Response Example:

json
{
  "num":2,
  "portNum":
  [
    [16,16,2,2],
    [16,16,2,2]
  ],
  "serialAnalog":
  {
    "baudRate":115200,
    "port":2,
    "type":"SUPER_ANAIO"
  },
  "simuNum":2,
  "type":["Virtual IO","Virtual IO"]
}

Safety Settings ​

Upper Computer Sets Safety Settings Parameters ​

Command Word: 0x7140

Parameter Description:

ParameterTypeDescription
quickStopobjectEmergency stop parameters
quickStop.enableboolEmergency stop enable
quickStop.port1intEmergency stop 1 digital input port
quickStop.port2intEmergency stop 2 digital input port
quickStop.shieldFlag1boolShield emergency stop 1
quickStop.shieldFlag2boolShield emergency stop 2
quickStop.shieldTimeintShield emergency stop time, range [0,100000)s
quickStop.timedoubleQuick stop time, range [50,200]ms
quickStop.value1intEmergency stop 1 digital input parameter, range [0,1]
quickStop.value2intEmergency stop 2 digital input parameter, range [0,1]
robotintRobot number to set, range [1,4]
safeScreenobjectSafety light curtain parameters
safeScreen.enableboolSafety light curtain enable
safeScreen.port1intSafety light curtain 1 digital input port
safeScreen.port2intSafety light curtain 2 digital input port
safeScreen.value1intSafety light curtain 1 digital input parameter, range [0,1]
safeScreen.value2intSafety light curtain 2 digital input parameter, range [0,1]

Request Example:

json
{
  "quickStop":
  {
    "enable":true,
    "port1":15,
    "port2":0,
    "shieldFlag1":false,
    "shieldFlag2":true,
    "shieldTime":30,
    "time":60.0,
    "value1":1,
    "value2":1
  },
  "robot":1,
  "safeScreen":
  {
    "enable":true,
    "port1":8,
    "port2":0,
    "value1":1,
    "value2":1
  }
}

Upper Computer Queries Safety Settings Parameters ​

Command Word: 0x7141

Parameter Description:

ParameterTypeDescription
robotintRobot number to query, range [1,4]

Request Example:

json
{
  "robot":1
}

Controller Replies with Safety Settings Parameters ​

Command Word: 0x7142

Parameter Description:

ParameterTypeDescription
quickStopobjectEmergency stop parameters
quickStop.enableboolEmergency stop enable
quickStop.port1intEmergency stop 1 digital input port
quickStop.port2intEmergency stop 2 digital input port
quickStop.shieldFlag1boolShield emergency stop 1
quickStop.shieldFlag2boolShield emergency stop 2
quickStop.shieldTimeintShield emergency stop time, range [0,100000)s
quickStop.timedoubleQuick stop time, range [50,200]ms
quickStop.value1intEmergency stop 1 digital input parameter, range [0,1]
quickStop.value2intEmergency stop 2 digital input parameter, range [0,1]
robotintRobot number, range [1,4]
safeScreenobjectSafety light curtain parameters
safeScreen.enableboolSafety light curtain enable
safeScreen.port1intSafety light curtain 1 digital input port
safeScreen.port2intSafety light curtain 2 digital input port
safeScreen.value1intSafety light curtain 1 digital input parameter, range [0,1]
safeScreen.value2intSafety light curtain 2 digital input parameter, range [0,1]

Response Example:

json
{
  "quickStop":
  {
    "enable":true,
    "port1":15,
    "port2":0,
    "shieldFlag1":false,
    "shieldFlag2":true,
    "shieldTime":30,
    "time":60.0,
    "value1":1,
    "value2":1
  },
  "robot":1,
  "safeScreen":
  {
    "enable":true,
    "port1":8,
    "port2":0,
    "value1":1,
    "value2":1
  }
}

Port Trigger Information ​

Note: When a port is triggered, the controller sends configured information to the upper computer for notification

Upper Computer Sets Digital Input Port Trigger Information ​

Command Word: 0x7150

Parameter Description:

ParameterTypeDescription
enablearrayMessage trigger enable; int type, range [0,1], length 32
msgarrayMessage triggered to send; string type, length 32
msgTypearrayMessage trigger type; int type, range [0,2]
0: Message
1: Warning
2: Error, length 32
valuearrayMessage trigger parameter; int type, range [0,1], length 32

Request Example:

json
{
  "enable":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],
  "msg":["","","","","","","","","","","","","","","","","","","","","AAAAA","","","","","","","","","","",""],
  "msgType":[0,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,0,2,2,2,2,2,2,2,2,2,2,2],
  "value":[1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
}

Upper Computer Queries Digital Input Port Trigger Information ​

Command Word: 0x7151

Request Example:

json
{}

Controller Replies with Digital Input Trigger Information ​

Command Word: 0x7152

Parameter Description:

ParameterTypeDescription
enablearrayMessage trigger enable; int type, range [0,1], length 32
msgarrayMessage triggered to send; string type, length 32
msgTypearrayMessage trigger type; int type, range [0,2]
valuearrayMessage trigger parameter; int type, range [0,1], length 32

Response Example:

json
{
  "enable":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],
  "msg":["","","","","","","","","","","","","","","","","","","","","AAAAA","","","","","","","","","","",""],
  "msgType":[0,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,0,2,2,2,2,2,2,2,2,2,2,2],
  "value":[1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
}

Upper Computer Sets Digital Output Port Trigger Information ​

Command Word: 0x7153

Parameter Description:

ParameterTypeDescription
enablearrayMessage trigger enable; int type, range [0,1], length 32
msgarrayMessage triggered to send; string type, length 32
msgTypearrayMessage trigger type; int type, range [0,2]
valuearrayMessage trigger parameter; int type, range [0,1], length 32

Request Example:

json
{
  "enable":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],
  "msg":["","","","","","","","","","","","","","","","","","","","","AAAAA","","","","","","","","","","",""],
  "msgType":[0,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,0,2,2,2,2,2,2,2,2,2,2,2],
  "value":[1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
}

Upper Computer Queries Digital Output Port Trigger Information ​

Command Word: 0x7154

Request Example:

json
{}

Controller Replies with Digital Output Trigger Information ​

Command Word: 0x7155

Parameter Description:

ParameterTypeDescription
enablearrayMessage trigger enable; int type, range [0,1], length 32
msgarrayMessage triggered to send; string type, length 32
msgTypearrayMessage trigger type; int type, range [0,2]
valuearrayMessage trigger parameter; int type, range [0,1], length 32

Response Example:

json
{
  "enable":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],
  "msg":["","","","","","","","","","","","","","","","","","","","","AAAAA","","","","","","","","","","",""],
  "msgType":[0,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,0,2,2,2,2,2,2,2,2,2,2,2],
  "value":[1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
}

Port Names ​

Note: Rename port names

Upper Computer Sets Digital Input Port Names ​

Command Word: 0x7160

Parameter Description:

ParameterTypeDescription
namearrayDigital input port name list to set; string type

Request Example:

json
{
  "name":["AAA","","","","","","","","","","","","","BBB","","","","","","","","","","","","","","","","","",""]
}

Upper Computer Queries Digital Input Port Names ​

Command Word: 0x7161

Request Example:

json
{}

Controller Replies with Digital Input Port Names ​

Command Word: 0x7162

Parameter Description:

ParameterTypeDescription
namearraySet digital input port name list; string type

Response Example:

json
{
  "name":["AAA","","","","","","","","","","","","","BBB","","","","","","","","","","","","","","","","","",""]
}

Upper Computer Sets Digital Output Port Names ​

Command Word: 0x7163

Parameter Description:

ParameterTypeDescription
namearrayDigital output port name list to set; string type

Request Example:

json
{
  "name":["","","","","","VV","","","","","","","","","","","","","","","","","","","","","","","","","",""]
}

Upper Computer Queries Digital Output Port Names ​

Command Word: 0x7164

Request Example:

json
{}

Controller Replies with Digital Output Port Names ​

Command Word: 0x7165

Parameter Description:

ParameterTypeDescription
namearraySet digital output port name list; string type

Response Example:

json
{
  "name":["","","","","","VV","","","","","","","","","","","","","","","","","","","","","","","","","",""]
}

Upper Computer Sets Analog Input Port Names ​

Command Word: 0x7166

Parameter Description:

ParameterTypeDescription
namearrayAnalog input port name list to set; string type

Request Example:

json
{
  "name":["","UY","",""]
}

Upper Computer Queries Analog Input Port Names ​

Command Word: 0x7167

Request Example:

json
{}

Controller Replies with Analog Input Port Names ​

Command Word: 0x7168

Parameter Description:

ParameterTypeDescription
namearraySet analog input port name list; string type

Response Example:

json
{
  "name":["","UY","",""]
}

Upper Computer Sets Analog Output Port Names ​

Command Word: 0x7169

Parameter Description:

ParameterTypeDescription
namearrayAnalog output port name list to set; string type

Request Example:

json
{
  "name":["TY","","",""]
}

Upper Computer Queries Analog Output Port Names ​

Command Word: 0x716A

Request Example:

json
{}

Controller Replies with Analog Output Port Names ​

Command Word: 0x716B

Parameter Description:

ParameterTypeDescription
namearraySet analog output port name list; string type

Response Example:

json
{
  "name":["TY","","",""]
}

Input/Output ​

Upper Computer Sets Digital Output Value ​

Command Word: 0x7180

Parameter Description:

ParameterTypeDescription
portintPort number to set
statusintDigital output value to set, range [0,2]
0: Output 0
1: Output 1
2: Toggle output value (e.g.: originally output 1, now output 0)

Request Example:

json
{
  "port":1,
  "status":1
}

Upper Computer Queries Digital Output Value ​

Command Word: 0x7181

Request Example:

json
{}

Controller Replies with Digital Output Value ​

Command Word: 0x7182

Parameter Description:

ParameterTypeDescription
statusarrayDigital output status list; int type, range [0,1], length 32

Response Example:

json
{
  "status":[0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0]
}

Upper Computer Queries Digital Input Value ​

Command Word: 0x7183

Request Example:

json
{}

Controller Replies with Digital Input Value ​

Command Word: 0x7184

Parameter Description:

ParameterTypeDescription
statusarrayDigital input status list; int type, range [0,1], length 32

Response Example:

json
{
  "status":[0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0]
}

Upper Computer Sets Analog Output Value ​

Command Word: 0x7185

Parameter Description:

ParameterTypeDescription
portintPort number to set
valuedoubleAnalog output value to set (this field value must be >= 0)

Request Example:

json
{
  "port":1,
  "value":8.880
}

Upper Computer Queries Analog Output Value ​

Command Word: 0x7186

Request Example:

json
{}

Controller Replies with Analog Output Value ​

Command Word: 0x7187

Parameter Description:

ParameterTypeDescription
valuearrayCurrent analog output value; double type

Response Example:

json
{
  "value":[8.87939453125,0.0,0.0,0.0]
}

Upper Computer Queries Analog Input Value ​

Command Word: 0x7188

Request Example:

json
{}

Controller Replies with Analog Input Value ​

Command Word: 0x7189

Parameter Description:

ParameterTypeDescription
valuearrayCurrent analog input value; double type

Response Example:

json
{
  "value":[9.99755859375,0.0,0.0,0.0]
}

Forced Input ​

Upper Computer Sets Forced Digital Input ​

Command Word: 0x7190

Parameter Description:

ParameterTypeDescription
enableintWhether to force digital input, range [0,1]
portintForced digital input port number
statusintForced digital input current value

Request Example:

json
{
  "enable":1,
  "port":1,
  "status":0
}

Upper Computer Queries Forced Digital Input Port ​

Command Word: 0x7191

Request Example:

json
{}

Controller Replies with Forced Digital Input Port ​

Command Word: 0x7192

Parameter Description:

ParameterTypeDescription
portarrayForced digital input port number; int type
statusarrayForced digital input value; int type

Response Example:

json
{
  "port":[2,6,12],
  "status":[0,1,0]
}

Upper Computer Sets Forced Analog Input ​

Command Word: 0x7193

Parameter Description:

ParameterTypeDescription
enableintWhether to force analog input, range [0,1]
portintForced analog input port number
statusdoubleForced analog input current value (this field value must be >= 0)

Request Example:

json
{
  "enable":1,
  "port":2,
  "status":9.0
}

Upper Computer Queries Forced Analog Input Port ​

Command Word: 0x7194

Request Example:

json
{}

Controller Replies with Forced Analog Input Port ​

Command Word: 0x7195

Parameter Description:

ParameterTypeDescription
portarrayForced analog input port number; int type
statusarrayForced analog input value; double type

Response Example:

json
{
  "port":[1,2],
  "status":[5.0,9.0]
}