Other Peripherals
Encoder
Description
Upper computer sets external axis encoder overflow parameters
Command: 0x7200
Parameter List
| Field Name | Type | Range | Description |
|---|---|---|---|
| externalAxis | array | - | External axis encoder max/min parameter list, length is the current external axis count |
| encode | array | - | Encoder max/min parameter list, length is the slave axis count + 1 |
| max | double | [-2^32, 2^32] | Encoder max value |
| min | double | [-2^32, 2^32] | Encoder min value |
| externalGroupNum | int | [1, 3] | Axis group number to set parameters |
| robot | int | [1, 4] | Current robot number |
Request Example
json
{
"externalAxis": [
{
"encode": [
{
"max": "100.0",
"min": "-100.0"
}
]
}
],
"externalGroupNum": 1,
"robot": 2
}Description
Upper computer queries external axis encoder overflow parameters
Command: 0x7201
Parameter List
| Field Name | Type | Range | Description |
|---|---|---|---|
| externalGroupNum | int | [1, 3] | Axis group number to query parameters |
| robot | int | [1, 4] | Current robot number |
Request Example
json
{
"externalGroupNum": 1,
"robot": 2
}Description
Controller replies with external axis encoder overflow parameters
Command: 0x7202
Parameter List
| Field Name | Type | Range | Description |
|---|---|---|---|
| externalAxis | array | - | External axis encoder max/min parameter list, length is the current external axis count |
| enable | int | [0, 1] | Encoder multi-turn overflow count function; 0 means not enabled, 1 means enabled |
| encode | array | - | Encoder max/min parameter list, length is the slave axis count + 1 |
| max | double | [-2^32, 2^32] | Encoder max value |
| min | double | [-2^32, 2^32] | Encoder min value |
| externalGroupNum | int | [1, 3] | Axis group number |
| robot | int | [1, 4] | Current robot number |
Response Example
json
{
"externalAxis": [
{
"enable": 0,
"encode": [
{
"max": "100.0",
"min": "-100.0"
}
]
}
],
"externalGroupNum": 1,
"robot": 2
}External Interface
Description
Upper computer queries external interface count
Command: 0x7220
Request Example
json
{}Description
Controller replies with external interface count
Command: 0x7221
Parameter List
| Field Name | Type | Description |
|---|---|---|
| canPortSum | int | Connected CAN port count |
| encodorPortSum | int | Connected encoder port count |
| pwmPortSum | int | Connected PWM port count |
Response Example
json
{
"canPortSum": 1,
"encodorPortSum": 2,
"pwmPortSum": 4
}Hard Disk
Description
Upper computer queries hard disk status
Command: 0x7230
Request Example
json
{}Description
Controller replies with hard disk status
Command: 0x7231
Parameter List
| Field Name | Type | Unit | Description |
|---|---|---|---|
| Estimated Available Time | int | h | Estimated available time |
| get_harddisk_warning_time | int | h | Hard disk warning time |
Response Example
json
{
"Estimated Available Time": 200,
"get_harddisk_warning_time": 500
}Description
Upper computer sets hard disk warning time
Command: 0x7232
Parameter List
| Field Name | Type | Range | Unit | Description |
|---|---|---|---|---|
| set_harddisk_warning_time | int | (0, 9999) | h | Hard disk warning time |
Request Example
json
{
"set_harddisk_warning_time": 50
}Servo Internal Parameters
Description
Controller sends servo internal parameters in groups of ten, sent to upper computer in multiple batches
Upper Computer Sets Servo Parameters
Command: 0x7240
Parameter List
| Field Name | Type | Range | Description |
|---|---|---|---|
| robot | int | [1, 4] | Current robot number |
| servoNum | int | - | Axis number to set |
| servo | object | - | Servo internal parameter list; parameters vary by robot model |
| value | int/double | - | Parameter value to set |
| temporary_save | int | [0, 1] | Whether temporary storage; 0 means not temporary, 1 means temporary |
Request Example
json
{
"robot": 1,
"servo": {
"Position command low-pass filter cutoff frequency": {
"value": 100.0
},
"Position loop proportional gain1": {
"value": 1000.0
},
"Position loop proportional gain2": {
"value": 1000.0
},
"Position loop integral time constant": {
"value": 5000.0
},
"Power loop setting": {
"value": 196616.0
},
"Fault stop option": {
"value": 6.0
},
"Motor back-EMF coefficient": {
"value": 53.0
},
"Motor brake holding torque": {
"value": 1000.0
},
"Motor brake release hold delay time": {
"value": 100.0
},
"Motor brake release permit delay time": {
"value": 500.0
},
"Motor brake time": {
"value": 60.0
}
},
"servoNum": 1,
"temporary_save": 0
}Upper Computer Queries Servo Internal Parameters
Command: 0x7241
Parameter List
| Field Name | Type | Description |
|---|---|---|
| robot | int | Current robot number |
| servoNum | int | Axis number to query |
Request Example
json
{
"robot": 1,
"servoNum": 1
}Controller Replies with Servo Internal Parameters
Command: 0x7242
Parameter List
| Field Name | Type | Description |
|---|---|---|
| robot | int | Current robot number |
| servoNum | int | Queried axis number |
| sendNum | int | Number of parameters sent |
| totalNum | int | Total number of internal parameters |
| servo | object | Servo internal parameter list; parameters vary by robot model |
servo Object Parameters
| Field Name | Type | Description |
|---|---|---|
| hex | bool | Whether hexadecimal |
| index | int | Address |
| lowLimit | int | Minimum limit |
| unit | string | Unit |
| upLimit | int | Maximum limit |
| value | int/double | Parameter value |
Response Example
json
{
"robot": 1,
"sendNum": 10,
"servo": {
"Position command low-pass filter cutoff frequency": {
"hex": false,
"index": 8299,
"lowLimit": 1,
"unit": "0.1HZ",
"upLimit": 1000,
"value": 100
},
"Position loop proportional gain1": {
"hex": false,
"index": 8256,
"lowLimit": 0,
"unit": "‰",
"upLimit": 600000,
"value": 1000
},
"Position loop proportional gain2": {
"hex": false,
"index": 8258,
"lowLimit": 0,
"unit": "‰",
"upLimit": 600000,
"value": 1000
},
"Position loop integral time constant": {
"hex": false,
"index": 8259,
"lowLimit": 125,
"unit": "us",
"upLimit": 600000,
"value": 5000
},
"Power loop setting": {
"hex": true,
"index": 8236,
"lowLimit": 0,
"unit": "",
"upLimit": 196623,
"value": 196616
},
"Fault stop option": {
"hex": true,
"index": 8339,
"lowLimit": 0,
"unit": "",
"upLimit": 197379,
"value": 0
},
"Motor back-EMF coefficient": {
"hex": false,
"index": 8390,
"lowLimit": 1,
"unit": "mV/rpm",
"upLimit": 10000,
"value": 53
},
"Motor brake holding torque": {
"hex": false,
"index": 8756,
"lowLimit": 1,
"unit": "mNm",
"upLimit": 600000,
"value": 1000
},
"Motor brake release hold delay time": {
"hex": false,
"index": 8250,
"lowLimit": 0,
"unit": "ms",
"upLimit": 10000,
"value": 100
},
"Motor brake release permit delay time": {
"hex": false,
"index": 8254,
"lowLimit": 0,
"unit": "ms",
"upLimit": 10000,
"value": 500
}
},
"servoNum": 1,
"totalNum": 38
}StarOne
Upper Computer Queries Encoder Range
Command: 0x7250
Parameter List
| Field Name | Type | Description |
|---|---|---|
| encodorPort | UInt | Encoder port number |
Request Example
json
{
"encodorPort": 1
}Controller Replies with Encoder Range
Command: 0x7251
Parameter List
| Field Name | Type | Description |
|---|---|---|
| encodorPort | UInt | Encoder port number |
| encodorMax | int | Encoder range max value |
| encodorMin | int | Encoder range min value |
Response Example
json
{
"encoderMax": 100,
"encoderMin": 0,
"encodorPort": 1
}Upper Computer Queries Encoder Value
Command: 0x7252
Parameter List
| Field Name | Type | Description |
|---|---|---|
| encodorPort | UInt | Encoder port number |
Request Example
json
{
"encodorPort": 1
}Controller Replies with Encoder Value
Command: 0x7253
Parameter List
| Field Name | Type | Description |
|---|---|---|
| encodorPort | UInt | Encoder port number |
| encodorValue | int | Encoder value |
Response Example
json
{
"encodorPort": 1,
"encodorValue": 5
}PWM
Upper Computer Sets PWM Parameters
Command: 0x7260
Parameter List
| Field Name | Type | Range | Description |
|---|---|---|---|
| pwmPort | UInt | - | PWM port |
| duty | double | - | PWM duty cycle |
| freq | double | - | PWM frequency |
| pwmOutTimeMs | UInt | [1000, 5000] ms | PWM output time; input 0 means continuous PWM output |
Request Example
json
{
"duty": 50,
"freq": 1000,
"pwmOutTimeMs": 1000,
"pwmPort": 1
}Upper Computer Queries PWM Parameters
Command: 0x7261
Parameter List
| Field Name | Type | Description |
|---|---|---|
| pwmPort | UInt | PWM port |
Request Example
json
{
"pwmPort": 1
}Controller Replies with PWM Parameters
Command: 0x7262
Parameter List
| Field Name | Type | Description |
|---|---|---|
| pwmPort | UInt | PWM port |
| duty | double | PWM duty cycle |
| freq | double | PWM frequency |
Response Example
json
{
"duty": 50,
"freq": 1000,
"pwmPort": 1
}Controller Replies with Output Time Result
Command: 0x7263
Parameter List
| Field Name | Type | Description |
|---|---|---|
| ok | bool | Output time result |
Response Example
json
{
"ok": true
}