Palletizing Process

1 Gripper

1.1 Upper Computer Sets Gripper Parameters

Description: Gripper setting configures the tool hands used during palletizing. If two suction cups pick parts separately (one picks, then switches to the other), two grippers must be configured; if two suction cups pick parts simultaneously, one gripper is configured. If two suction cups place parts separately (one places, then switches to the other), two grippers must be configured; if two suction cups place parts simultaneously, one gripper is configured.

Command: 0x8000

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.gripperNum	int	Number of grippers	[1,4]
pallet.gripper	array	Gripper tool number array, the i-th element represents the tool number of gripper i	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "gripperNum": 2,
        "gripper": [1, 3, 4, 1]
    }
}

1.2 Upper Computer Queries Gripper Parameters

Command: 0x8001

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

1.3 Controller Returns Gripper Parameters

Command: 0x8002

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.gripperNum	int	Number of grippers	[1,4]
pallet.gripper	array	Gripper tool number array, the i-th element represents the tool number of gripper i	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "gripperNum": 2,
        "gripper": [1, 3, 4, 1]
    }
}

2 Pallet

2.1 Upper Computer Sets Pallet Parameters

Command: 0x8010

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.userNum	int	User coordinate frame	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "userNum": 1
    }
}

2.2 Upper Computer Queries Pallet Parameters

Command: 0x8011

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

2.3 Controller Returns Pallet Parameters

Command: 0x8012

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.userNum	int	User coordinate frame	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "userNum": 1
    }
}

2.4 Upper Computer Sets Palletizing Pallet Range Parameters

Command: 0x8013

Parameter Name	Type	Description	Value Range
robot	int	Robot number to operate	[1,4]
craftID	int	Palletizing process number	-
pallet.tray_preview	bool	Whether to enable tray preview	true/false
pallet.tray_length	double	Tray length	(1,50000)
pallet.tray_width	double	Tray width	(1,50000)

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "tray_preview": true,
        "tray_length": 1,
        "tray_width": 1
    }
}

2.5 Upper Computer Queries Palletizing Pallet Range Parameters

Command: 0x8014

Parameter Name	Type	Description	Value Range
robot	int	Robot number to operate	[1,4]
craftID	int	Palletizing process number	-

{
    "robot": 1,
    "craftID": 1
}

2.6 Controller Returns Pallet Range Parameters

Command: 0x8015

Parameter Name	Type	Description	Value Range
robot	int	Robot number to operate	[1,4]
craftID	int	Palletizing process number	-
pallet.tray_preview	bool	Whether to enable tray preview	true/false
pallet.tray_length	double	Tray length	(1,50000)
pallet.tray_width	double	Tray width	(1,50000)

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "tray_preview": true,
        "tray_length": 1,
        "tray_width": 1
    }
}

3 Position

3.1 Upper Computer Sets Position Parameters

Description: Position setting configures palletizing workpiece points, auxiliary points, and entry points. Please set the selected tool hand with the gripper for position marking.

Command: 0x8020

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.floorNum	int	Layer where the origin is marked	-
pallet.enterPos	array	Entry point, double type, 6 elements	-
pallet.realPos	array	Workpiece point, double type, 6 elements	-
pallet.shiftPos	array	Auxiliary point, double type, 6 elements	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "floorNum": 1,
        "enterPos": [9999.0, 9999.0, 9999.0, 9999.0, 9999.0, 9999.0],
        "realPos": [9999.0, 9999.0, 9999.0, 9999.0, 9999.0, 9999.0],
        "shiftPos": [9999.0, 9999.0, 9999.0, 9999.0, 9999.0, 9999.0]
    }
}

3.2 Upper Computer Queries Position Parameters

Command: 0x8021

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

3.3 Controller Returns Position Parameters

Command: 0x8022

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.floorNum	int	Layer where the origin is marked	-
pallet.enterPos	array	Entry point, double type, 6 elements	-
pallet.realPos	array	Workpiece point, double type, 6 elements	-
pallet.shiftPos	array	Auxiliary point, double type, 6 elements	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "floorNum": 1,
        "enterPos": [9999.0, 9999.0, 9999.0, 9999.0, 9999.0, 9999.0],
        "realPos": [9999.0, 9999.0, 9999.0, 9999.0, 9999.0, 9999.0],
        "shiftPos": [9999.0, 9999.0, 9999.0, 9999.0, 9999.0, 9999.0]
    }
}

4 Workpiece Parameters

4.1 Upper Computer Sets Workpiece Parameters

Command: 0x8030

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.workpieceGapX	double	Gap in tray X direction	[0,9999]mm
pallet.workpieceGapY	double	Gap in tray Y direction	[0,9999]mm
pallet.workpieceHeight	double	Height (tray Z direction)	[1,9999]mm
pallet.workpieceLength	array	Length (tray Y direction), double type	[1,9999]mm
pallet.workpieceWidth	array	Width (tray X direction), double type	[1,9999]mm

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "workpieceGapX": 0.0,
        "workpieceGapY": 0.0,
        "workpieceHeight": 1.0,
        "workpieceLength": [1.0],
        "workpieceWidth": [1.0]
    }
}

4.2 Upper Computer Queries Workpiece Parameters

Command: 0x8031

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

4.3 Controller Returns Workpiece Parameters

Command: 0x8032

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.workpieceGapX	double	Gap in tray X direction	[0,9999]mm
pallet.workpieceGapY	double	Gap in tray Y direction	[0,9999]mm
pallet.workpieceHeight	double	Height (tray Z direction)	[1,9999]mm
pallet.workpieceLength	array	Length (tray Y direction), double type	[1,9999]mm
pallet.workpieceWidth	array	Width (tray X direction), double type	[1,9999]mm

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "workpieceGapX": 0.0,
        "workpieceGapY": 0.0,
        "workpieceHeight": 1.0,
        "workpieceLength": [1.0],
        "workpieceWidth": [1.0]
    }
}

5 Approach Parameters

5.1 Upper Computer Sets Approach Parameters

Command: 0x8040

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.workpieceApproEnable	bool	Approach enable	true/false
pallet.workpieceApproMode	int	Approach mode	0: Descent-then-approach, 1: Approach-then-descent
pallet.workpieceApproLenX	double	Length in tray X direction	[0,9999]mm
pallet.workpieceApproLenY	double	Length in tray Y direction	[0,9999]mm
pallet.workpieceApproLenZ	double	Length in tray Z direction	[0,9999]mm

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "workpieceApproEnable": false,
        "workpieceApproMode": 0,
        "workpieceApproLenX": 0,
        "workpieceApproLenY": 0,
        "workpieceApproLenZ": 0
    }
}

5.2 Upper Computer Queries Approach Parameters

Command: 0x8041

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

5.3 Controller Returns Approach Parameters

Command: 0x8042

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.workpieceApproEnable	bool	Approach enable	true/false
pallet.workpieceApproMode	int	Approach mode	0: Descent-then-approach, 1: Approach-then-descent
pallet.workpieceApproLenX	double	Length in tray X direction	[0,9999]mm
pallet.workpieceApproLenY	double	Length in tray Y direction	[0,9999]mm
pallet.workpieceApproLenZ	double	Length in tray Z direction	[0,9999]mm

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "workpieceApproEnable": false,
        "workpieceApproMode": 0,
        "workpieceApproLenX": 0,
        "workpieceApproLenY": 0,
        "workpieceApproLenZ": 0
    }
}

6 Overlap Mode Parameters

6.1 Set Overlap Mode Parameters

Command: 0x8050

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.floorSum	int	Number of layers	[1,999]
pallet.overlapType	int	Repeat pattern	0: Identical, 1: Alternating, 2: Custom
pallet.layHeightOffset	double	Place point height compensation	-
pallet.fixedLayHeight	bool	Fixed place point height	true/false
pallet.fixedSupHeight	bool	Fixed auxiliary point height	true/false
pallet.columnLay	bool	Vertical arrangement	true/false
pallet.floorAutoJustified	bool	Layer auto-alignment	true/false
pallet.poseAutorotation	bool	Pose auto-rotation	true/false
pallet.fixedEnterPoint	bool	Fixed entry point position	true/false
pallet.graphicNum	array	Graphic number	[0,9]
pallet.heightRevise	array	Height correction	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "floorSum": 1,
        "overlapType": 0,
        "layHeightOffset": 0.0,
        "fixedLayHeight": false,
        "fixedSupHeight": false,
        "columnLay": false,
        "floorAutoJustified": false,
        "poseAutorotation": false,
        "fixedEnterPoint": false,
        "graphicNum": [1, 2, 1, 2],
        "heightRevise": [1.1, -2.2]
    }
}

6.2 Upper Computer Queries Overlap Mode Parameters

Command: 0x8051

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

6.3 Controller Returns Overlap Mode Parameters

Command: 0x8052

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.floorSum	int	Number of layers	[1,999]
pallet.overlapType	int	Repeat pattern	0: Identical, 1: Alternating, 2: Custom
pallet.layHeightOffset	double	Place point height compensation	-
pallet.fixedLayHeight	bool	Fixed place point height	true/false
pallet.fixedSupHeight	bool	Fixed auxiliary point height	true/false
pallet.columnLay	bool	Vertical arrangement	true/false
pallet.floorAutoJustified	bool	Layer auto-alignment	true/false
pallet.poseAutorotation	bool	Pose auto-rotation	true/false
pallet.fixedEnterPoint	bool	Fixed entry point position	true/false
pallet.graphicNum	array	Graphic number	[0,9]
pallet.heightRevise	array	Height correction	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "floorSum": 1,
        "overlapType": 0,
        "layHeightOffset": 0.0,
        "fixedLayHeight": false,
        "fixedSupHeight": false,
        "columnLay": false,
        "floorAutoJustified": false,
        "poseAutorotation": false,
        "fixedEnterPoint": false,
        "graphicNum": [1, 2, 1, 2],
        "heightRevise": [1.1, -2.2]
    }
}

7 Plane Mode Parameters

7.1 Set Plane Mode Parameters

Command: 0x8060

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]
pallet.graphicType	int	Template selection	0: Row-column, 1: Interlaced, 2: Spiral, 3: Five-pattern, 4: Custom
pallet.transLenX	double	X translation compensation	[-9999,9999]mm
pallet.transLenY	double	Y translation compensation	[-9999,9999]mm
pallet.ranks.numX	int	Count in X direction	[1,999]
pallet.ranks.numY	int	Count in Y direction	[1,999]
pallet.ranks.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.ranks.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.ranks.autoCalculate	bool	Auto-calculate	true/false
pallet.intertwining.numX	int	Count in X direction	[1,999]
pallet.intertwining.numY	int	Count in Y direction	[1,999]
pallet.intertwining.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.intertwining.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.gearType.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.gearType.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.wideType.A_rows	int	Rows in zone A	[0,999]
pallet.wideType.B_rows	int	Rows in zone B	[1,999]
pallet.wideType.B_columns	int	Columns in zone B	[1,999]
pallet.wideType.C_rows	int	Rows in zone C	[0,999]
pallet.wideType.A_C_columns	int	Columns in zones A and C	[0,999]
pallet.wideType.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.wideType.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.custom.sum	int	Total workpieces per layer	-
pallet.custom.start	int	Starting workpiece number to send	-
pallet.custom.count	int	Number of layer workpieces sent to controller, max 10 per send	-
pallet.custom.eachVec[].X	double	X offset	[-9999,9999]mm
pallet.custom.eachVec[].Y	double	Y offset	[-9999,9999]mm
pallet.custom.eachVec[].t	double	Rotation angle	[-180,180]
pallet.custom.eachVec[].dir	int	Approach direction	0: Up, 1: Down, 2: Left, 3: Right, 4: Upper-left, 5: Lower-left, 6: Upper-right, 7: Lower-right
pallet.custom.eachVec[].h	double	Height correction	[-9999,9999]mm
pallet.custom.eachVec[].EntrySpeed	double	Approach speed	0 or [1,100]%
pallet.custom.eachVec[].LeaveSpeed	double	Departure speed	0 or [1,100]%

Note: A maximum of 10 sets can be sent per transmission. If the total workpiece count exceeds 10, multiple transmissions are required. For non-first transmissions, the start value must change. For example, if 10 sets are sent the first time, start should be 11 for the second transmission.

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "graphicType": 0,
        "transLenX": 2.2,
        "transLenY": -3.3,
        "ranks": {
            "numX": 0,
            "numY": 0,
            "rotationAngleWhole": 0,
            "rotationAngleSingle": 0,
            "autoCalculate": true
        },
        "intertwining": {
            "numX": 0,
            "numY": 0,
            "rotationAngleWhole": 0,
            "rotationAngleSingle": 0
        },
        "gearType": {
            "rotationAngleWhole": 0,
            "rotationAngleSingle": 0
        },
        "wideType": {
            "A_rows": 1,
            "B_rows": 1,
            "B_columns": 1,
            "C_rows": 1,
            "A_C_columns": 1,
            "rotationAngleWhole": 0.0,
            "rotationAngleSingle": 0.0
        },
        "custom": {
            "sum": 20,
            "start": 1,
            "count": 10,
            "eachVec": [
                {
                    "X": 0,
                    "Y": 0,
                    "t": 0,
                    "dir": 0,
                    "h": 0,
                    "EntrySpeed": 60.0,
                    "LeaveSpeed": 3.0
                }
            ]
        }
    }
}

7.2 Upper Computer Queries Plane Mode Parameters

Command: 0x8061

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1
}

7.3 Controller Returns Plane Mode Parameters

Command: 0x8060

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]
pallet.graphicType	int	Template selection	0: Row-column, 1: Interlaced, 2: Spiral, 3: Five-pattern, 4: Custom
pallet.transLenX	double	X translation compensation	[-9999,9999]mm
pallet.transLenY	double	Y translation compensation	[-9999,9999]mm
pallet.ranks.numX	int	Count in X direction	[1,999]
pallet.ranks.numY	int	Count in Y direction	[1,999]
pallet.ranks.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.ranks.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.ranks.autoCalculate	bool	Auto-calculate	true/false
pallet.intertwining.numX	int	Count in X direction	[1,999]
pallet.intertwining.numY	int	Count in Y direction	[1,999]
pallet.intertwining.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.intertwining.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.gearType.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.gearType.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.wideType.A_rows	int	Rows in zone A	[0,999]
pallet.wideType.B_rows	int	Rows in zone B	[1,999]
pallet.wideType.B_columns	int	Columns in zone B	[1,999]
pallet.wideType.C_rows	int	Rows in zone C	[0,999]
pallet.wideType.A_C_columns	int	Columns in zones A and C	[0,999]
pallet.wideType.rotationAngleWhole	int	Overall rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.wideType.rotationAngleSingle	int	Workpiece rotation angle	0:0, 1:90, 2:180, 3:-90
pallet.custom.sum	int	Total workpieces per layer	-
pallet.custom.start	int	Starting workpiece number to send	-
pallet.custom.count	int	Number of layer workpieces sent to controller, max 10 per send	-
pallet.custom.eachVec[].X	double	X offset	[-9999,9999]mm
pallet.custom.eachVec[].Y	double	Y offset	[-9999,9999]mm
pallet.custom.eachVec[].t	double	Rotation angle	[-180,180]
pallet.custom.eachVec[].dir	int	Approach direction	0: Up, 1: Down, 2: Left, 3: Right, 4: Upper-left, 5: Lower-left, 6: Upper-right, 7: Lower-right
pallet.custom.eachVec[].h	double	Height correction	[-9999,9999]mm
pallet.custom.eachVec[].EntrySpeed	double	Approach speed	0 or [1,100]%
pallet.custom.eachVec[].LeaveSpeed	double	Departure speed	0 or [1,100]%

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "graphicType": 0,
        "transLenX": 2.2,
        "transLenY": -3.3,
        "ranks": {
            "numX": 0,
            "numY": 0,
            "rotationAngleWhole": 0,
            "rotationAngleSingle": 0,
            "autoCalculate": true
        },
        "intertwining": {
            "numX": 0,
            "numY": 0,
            "rotationAngleWhole": 0,
            "rotationAngleSingle": 0
        },
        "gearType": {
            "rotationAngleWhole": 0,
            "rotationAngleSingle": 0
        },
        "wideType": {
            "A_rows": 1,
            "B_rows": 1,
            "B_columns": 1,
            "C_rows": 1,
            "A_C_columns": 1,
            "rotationAngleWhole": 0.0,
            "rotationAngleSingle": 0.0
        },
        "custom": {
            "sum": 20,
            "start": 1,
            "count": 10,
            "eachVec": [
                {
                    "X": 0,
                    "Y": 0,
                    "t": 0,
                    "dir": 0,
                    "h": 0,
                    "EntrySpeed": 60.0,
                    "LeaveSpeed": 3.0
                }
            ]
        }
    }
}

7.4 Request Conversion to Plane Mode Custom Template

Command: 0x8063

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1
}

7.5 Controller Returns Parameters After Converting to Plane Mode Custom Template

Command: 0x8064

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]
pallet.graphicType	int	Template selection (can only be 3 here)	3: Custom
pallet.transLenX	double	X translation compensation	[-9999,9999]mm
pallet.transLenY	double	Y translation compensation	[-9999,9999]mm
pallet.autoTransLenX	double	X auto-translation distance	-
pallet.autoTransLenY	double	Y auto-translation distance	-
pallet.custom	object	Custom parameters (same as above)	-

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "graphicType": 3,
        "transLenX": 2.2,
        "transLenY": -3.3,
        "autoTransLenX": 4.4,
        "autoTransLenY": 5.5,
        "custom": {
            "sum": 20,
            "start": 1,
            "count": 10,
            "eachVec": [
                {
                    "X": 0,
                    "Y": 0,
                    "t": 0,
                    "dir": 0,
                    "h": 0
                }
            ]
        }
    }
}

7.6 Upper Computer Requests Plane Mode Preview

Command: 0x8065

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1
}

7.7 Controller Returns Plane Mode Preview Parameters

Command: 0x8066

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]
pallet.workpieceLength	int	Length of each workpiece	[0,9999]mm
pallet.workpieceWidth	int	Width of each workpiece	[0,9999]mm
pallet.sum	int	Total workpieces per layer	-
pallet.start	int	Starting workpiece number to send	-
pallet.count	int	Number of layer workpieces sent to controller, max 10 per send	-
pallet.tray.x	double	Tray x coordinate	-
pallet.tray.y	double	Tray y coordinate	-
pallet.eachVec[].X	double	X offset	[-9999,9999]mm
pallet.eachVec[].Y	double	Y offset	[-9999,9999]mm
pallet.eachVec[].t	double	Rotation angle	[-180,180]

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "workpieceLength": 1,
        "workpieceWidth": 1,
        "sum": 20,
        "start": 1,
        "count": 10,
        "tray": {
            "x": 0.0,
            "y": 0.0
        },
        "eachVec": [
            {
                "X": 0,
                "Y": 0,
                "t": 0
            }
        ]
    }
}

7.8 Query Complete Palletizing Plane Mode Auto-Calculation Result

Command: 0x806A

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

7.9 Controller Returns Complete Palletizing Plane Mode Auto-Calculation Result

Command: 0x806B

Parameter Name	Type	Description
pallet.ranks.numX	int	Count in X direction
pallet.ranks.numY	int	Count in Y direction

{
    "pallet": {
        "ranks": {
            "numX": 0,
            "numY": 0
        }
    }
}

7.10 Plane Mode Custom Mode Preview (Does Not Save Parameters and Results)

Command: 0x8067

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]
pallet.workpieceLength	int	Length of each workpiece	[0,9999]mm
pallet.workpieceWidth	int	Width of each workpiece	[0,9999]mm
pallet.sum	int	Total workpieces per layer	-
pallet.start	int	Starting workpiece number to send	-
pallet.count	int	Number of layer workpieces sent to controller, max 10 per send	-
pallet.tray.x	double	Tray x coordinate	-
pallet.tray.y	double	Tray y coordinate	-
pallet.eachVec[].X	double	X offset	[-9999,9999]mm
pallet.eachVec[].Y	double	Y offset	[-9999,9999]mm
pallet.eachVec[].t	double	Rotation angle	[-180,180]

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "workpieceLength": 1,
        "workpieceWidth": 1,
        "sum": 20,
        "start": 1,
        "count": 10,
        "tray": {
            "x": 0.0,
            "y": 0.0
        },
        "eachVec": [
            {
                "X": 0,
                "Y": 0,
                "t": 0
            }
        ]
    }
}

7.11 Controller Returns Plane Mode Custom Mode Preview

Command: 0x8068

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]
pallet.workpieceLength	int	Length of each workpiece	[0,9999]mm
pallet.workpieceWidth	int	Width of each workpiece	[0,9999]mm
pallet.sum	int	Total workpieces per layer	-
pallet.start	int	Starting workpiece number to send	-
pallet.count	int	Number of layer workpieces sent to controller, max 10 per send	-
pallet.tray.x	double	Tray x coordinate	-
pallet.tray.y	double	Tray y coordinate	-
pallet.eachVec[].X	double	X offset	[-9999,9999]mm
pallet.eachVec[].Y	double	Y offset	[-9999,9999]mm
pallet.eachVec[].t	double	Rotation angle	[-180,180]

{
    "robot": 1,
    "craftID": 1,
    "graphic": 1,
    "pallet": {
        "workpieceLength": 1,
        "workpieceWidth": 1,
        "sum": 20,
        "start": 1,
        "count": 10,
        "tray": {
            "x": 0.0,
            "y": 0.0
        },
        "eachVec": [
            {
                "X": 0,
                "Y": 0,
                "t": 0
            }
        ]
    }
}

8 Copy Layer Graphic Parameters

8.1 Copy Layer Graphic Parameters

Command: 0x8069

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID_source	int	Process number to copy from	-
craftID_target	int	Process number to copy to	-
graphic_source	int	Graphic layer to copy from	-
graphic_target	int	Graphic layer to copy to	-

{
    "robot": 1,
    "craftID_source": 1,
    "craftID_target": 2,
    "graphic_source": 1,
    "graphic_target": 2
}

9 Palletizing Status

9.1 Set Palletizing Status

Command: 0x80A0

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
graphic	int	Graphic number	[1,9]
pallet.curLayerNum	int	Current layer number	-
pallet.curLayerPalletedWpNum	int	Workpieces palletized in current layer	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "curLayerNum": 1,
        "curLayerPalletedWpNum": 5
    }
}

9.2 Upper Computer Queries Palletizing Status

Command: 0x80A1

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

9.3 Controller Returns Palletizing Status

Command: 0x80A2

Parameter Name	Type	Description
robot	int	Current robot
craftID	int	Process number
graphic	int	Graphic number
pallet.totalWpNum	int	Total workpieces
pallet.totalLayerNum	int	Total layers
pallet.curPalletedWpSum	int	Total workpieces palletized so far
pallet.curLayerNum	int	Current layer number
pallet.curLayerPalletedWpNum	int	Workpieces palletized in current layer
pallet.curLayerWpSum	int	Total workpieces in current layer

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "totalWpNum": 20,
        "totalLayerNum": 2,
        "curPalletedWpSum": 5,
        "curLayerNum": 1,
        "curLayerPalletedWpNum": 5,
        "curLayerWpSum": 10
    }
}

10 Palletizing Type

10.1 Upper Computer Switches Palletizing Type

Command: 0x80B2

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
usePalletType	int	Palletizing type	0: Simple, 1: Complete, 2: Undefined
craftNote	string	Note	-

{
    "robot": 1,
    "craftID": 1,
    "usePalletType": 0,
    "craftNote": ""
}

10.2 Upper Computer Queries Current Palletizing Type

Command: 0x80B3

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

10.3 Controller Returns Current Palletizing Type

Command: 0x80B4

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
usePalletType	int	Palletizing type	0: Simple, 1: Complete, 2: Undefined
craftNote	string	Note	-

{
    "robot": 1,
    "craftID": 1,
    "usePalletType": 0,
    "craftNote": ""
}

11 Simple Palletizing

11.1 Set Simple Palletizing Position

Command: 0x80C0

Parameter Name	Type	Description
robot	int	Current robot
craftID	int	Process number
O	array	Workpiece start point, end pose in Cartesian coordinates
X	array	Column end point, end pose in Cartesian coordinates
Y	array	Row end point, end pose in Cartesian coordinates
shift	array	Auxiliary point, end pose in Cartesian coordinates
enter	array	Entry point, end pose in Cartesian coordinates
numX	int	Number of rows
numY	int	Number of columns
numZ	int	Number of layers
useAcrossCorner	bool	Whether to use diagonal end point, true: Yes, false: No

{
    "robot": 1,
    "craftID": 1,
    "O": [1, 2, 3, 4, 5, 6],
    "X": [1, 2, 3, 4, 5, 6],
    "Y": [1, 2, 3, 4, 5, 6],
    "shift": [1, 2, 3, 4, 5, 6],
    "enter": [1, 2, 3, 4, 5, 6],
    "numX": 1,
    "numY": 1,
    "numZ": 1,
    "useAcrossCorner": true
}

11.2 Upper Computer Queries Simple Palletizing Position

Command: 0x80C1

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

11.3 Controller Returns Simple Palletizing Position

Command: 0x80C2

Parameter Name	Type	Description
robot	int	Current robot
craftID	int	Process number
O	array	Workpiece start point (radians)
ODeg	array	Workpiece start point (degrees)
X	array	Column end point (radians)
XDeg	array	Column end point (degrees)
Y	array	Row end point (radians)
YDeg	array	Row end point (degrees)
shift	array	Auxiliary point (radians)
shiftDeg	array	Auxiliary point (degrees)
enter	array	Entry point (radians)
enterDeg	array	Entry point (degrees)
acrossCorner	array	Diagonal end point (radians)
acrossCornerDeg	array	Diagonal end point (degrees)
numX	int	Number of rows
numY	int	Number of columns
numZ	int	Number of layers

{
    "robot": 1,
    "craftID": 1,
    "O": [1, 2, 3, 4, 5, 6],
    "ODeg": [1, 2, 3, 4, 5, 6],
    "X": [1, 2, 3, 4, 5, 6],
    "XDeg": [1, 2, 3, 4, 5, 6],
    "Y": [1, 2, 3, 4, 5, 6],
    "YDeg": [1, 2, 3, 4, 5, 6],
    "shift": [1, 2, 3, 4, 5, 6],
    "shiftDeg": [1, 2, 3, 4, 5, 6],
    "enter": [1, 2, 3, 4, 5, 6],
    "enterDeg": [1, 2, 3, 4, 5, 6],
    "acrossCorner": [1, 2, 3, 4, 5, 6],
    "acrossCornerDeg": [1, 2, 3, 4, 5, 6],
    "numX": 1,
    "numY": 1,
    "numZ": 1
}

11.4 Set Simple Palletizing Gripper Parameters

Command: 0x80C3

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.gripperNum	int	Number of grippers	[1,4]
pallet.gripper	array	Gripper tool number array	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "gripperNum": 4,
        "gripper": [1, 3, 4, 1]
    }
}

11.5 Upper Computer Queries Simple Palletizing Gripper Parameters

Command: 0x80C4

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

11.6 Controller Returns Simple Palletizing Gripper Parameters

Command: 0x80C5

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
pallet.gripperNum	int	Number of grippers	[1,4]
pallet.gripper	array	Gripper tool number array	-

{
    "robot": 1,
    "craftID": 1,
    "pallet": {
        "gripperNum": 4,
        "gripper": [1, 3, 4, 1]
    }
}

12 Palletizing Reset

12.1 Palletizing Reset

Command: 0x80A3

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
gripper	int	Gripper tool number	[1,9]

{
    "robot": 1,
    "craftID": 1
}

13 Copy and Clear

13.1 Copy Palletizing Parameters

Command: 0x80B0

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID_source	int	Process number to copy from	-
craftID_target	int	Process number to copy to	-

{
    "robot": 1,
    "craftID_source": 1,
    "craftID_target": 2
}

13.2 Clear Palletizing Parameters

Command: 0x80B1

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-

{
    "robot": 1,
    "craftID": 1
}

14 Point Debug Interface

14.1 Upper Computer Gets All Workpiece Data for Current Layer

Command: 0x8080

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
layer	int	Current layer	-
clear	int	Whether to clear cache, 1: Clear cache, 0: Do not clear	-

{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "clear": 0
}

14.2 Controller Returns All Workpiece Data for Current Layer

Command: 0x8081

Parameter Name	Type	Description
robot	int	Current robot
craft	int	Process number
layer	int	Current layer
sumLayer	int	Total layers
length.L	int	Length
length.W	int	Width
overLimit.over	int	0: No overrun, 1: Entry point overrun, 2: Auxiliary point overrun, 3: Workpiece point overrun
overLimit.layer	int	Overrun layer
overLimit.num	int	Overrun workpiece number
pallet.sum	int	Total workpieces per layer
pallet.count	int	Number of layer workpieces sent to controller
pallet.start	int	Starting workpiece number to send
pallet.tray_length	double	Tray length
pallet.tray_width	double	Tray width
pallet.tray.x	double	Tray x coordinate
pallet.tray.y	double	Tray y coordinate
pallet.eachVec[].X	double	X coordinate
pallet.eachVec[].Y	double	Y coordinate
pallet.eachVec[].Z	double	Z coordinate
pallet.eachVec[].t	double	Rotation angle
pallet.eachVec[].over	int	0: No overrun, 1: Entry point unreachable, 2: Auxiliary point unreachable, 3: Workpiece point unreachable

{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "sumLayer": 10,
    "length": {
        "L": 10,
        "W": 10
    },
    "overLimit": {
        "over": 1,
        "layer": 1,
        "num": 2
    },
    "pallet": {
        "sum": 25,
        "count": 10,
        "start": 1,
        "tray_length": 5,
        "tray_width": 5,
        "tray": {
            "x": 0,
            "y": 0
        },
        "eachVec": [
            {
                "X": 0,
                "Y": 0,
                "Z": 0,
                "t": 0,
                "over": 0
            }
        ]
    }
}

14.3 Palletizing Process Number Query

Command: 0x8082

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-

{
    "robot": 1,
    "craft": 1
}

14.4 Controller Returns Palletizing Process Number Query Result

Command: 0x8083

Parameter Name	Type	Description
robot	int	Current robot
craft	int	Process number
_palletNumIsTooMore	bool	Whether palletizing quantity is too large

{
    "robot": 1,
    "craft": 1,
    "_palletNumIsTooMore": true
}

14.5 Upper Computer Gets Tool Hand Corresponding to Gripper

Command: 0x808B

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
gripper	int	Gripper number	-

{
    "robot": 1,
    "craft": 1,
    "gripper": 1
}

14.6 Controller Returns

Command: 0x808C

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
tool	int	Tool hand number	-

{
    "robot": 1,
    "craft": 1,
    "tool": 1
}

14.7 Upper Computer Sets Overall Offset

Command: 0x8084

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
layer	int	Current layer	-
transLenX	double	X offset	-
transLenY	double	Y offset	-
transLenZ	double	Z offset	-
rotationAngle	double	Offset angle	-

{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "transLenX": 0,
    "transLenY": 0,
    "transLenZ": 0,
    "rotationAngle": 0
}

14.8 Apply to Same Layer

Command: 0x8085

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
layer	int	Layer	-

{
    "robot": 1,
    "craft": 1,
    "layer": 1
}

14.9 Modify Single Workpiece Position

Command: 0x8086

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
layer	int	Layer	-
num	int	Current workpiece	-
mode	int	Setting mode	0: Direct set xyz, 1: Use robot current position
X	double	X offset	[-9999,9999]mm
Y	double	Y offset	[-9999,9999]mm
Z	double	Z offset	[-9999,9999]mm
angle	double	Rotation angle	[-180,180]

{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "num": 1,
    "mode": 0,
    "X": 0.1,
    "Y": 0.1,
    "Z": 0.1,
    "angle": 0
}

14.10 Get Single Workpiece Position

Command: 0x8087

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
layer	int	Layer	-
num	int	Current workpiece	-

{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "num": 1
}

14.11 Controller Returns Single Workpiece Position

Command: 0x8088

Parameter Name	Type	Description
ApproachMode	int	Approach mode
DepartureSpeed	double	Departure speed
EntryConfiguration	int	Entry configuration
EntrySpeed	double	Approach speed
RealConfiguration	int	Actual configuration
ShiftConfiguration	int	Auxiliary configuration
X	double	X coordinate
Y	double	Y coordinate
Z	double	Z coordinate
craft	int	Process number
layer	int	Layer
num	int	Current workpiece
over	int	Overrun flag
overLimit.layer	int	Overrun layer
overLimit.num	int	Overrun workpiece number
overLimit.over	int	Overrun type
reference	int	Reference point
robot	int	Current robot
t	double	Rotation angle

{
    "ApproachMode": 0,
    "DepartureSpeed": 0.0,
    "EntryConfiguration": 0,
    "EntrySpeed": 0.0,
    "RealConfiguration": 0,
    "ShiftConfiguration": 0,
    "X": 0.0,
    "Y": 0.0,
    "Z": 0.0,
    "craft": 7,
    "layer": 1,
    "num": 1,
    "over": 3,
    "overLimit": {
        "layer": 1,
        "num": 1,
        "over": 3
    },
    "reference": 1,
    "robot": 1,
    "t": 0.0
}

14.12 Save Point Debug Content from Cache to File

Command: 0x8089

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
gripper	int	Gripper number	-

{
    "robot": 1,
    "craft": 1,
    "gripper": 1
}

14.13 Move to Workpiece Point / Auxiliary Point / Entry Point

Command: 0x808A

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craft	int	Process number	-
layer	int	Layer	-
num	int	Current workpiece	-
tool	int	Tool hand	-
type	int	Point to move to	0: Entry point, 1: Auxiliary point, 2: Workpiece point

{
    "robot": 1,
    "craft": 1,
    "layer": 1,
    "num": 1,
    "tool": 1,
    "type": 0
}

14.14 Set Approach / Departure Mode

Command: 0x80C7

Parameter Name	Type	Description	Value Range
robot	int	Current robot	[1,4]
craftID	int	Process number	-
approMoveType	int	Approach / departure mode	-

{
    "robot": 1,
    "craftID": 1,
    "approMoveType": 1
}