Conveyor

0x8200 Host sends, track conveyor position setting

Parameter List

Parameter	Type	Description	Value Range
conveyorID	int	Conveyor process number	[1,9]
position	object	Position parameter object	-
robot	int	Robot number	[1,4]

position Sub-parameters

Parameter	Type	Description
receLatestPos	double	Latest receive X value
trackRangeXMax	double	Maximum tracking range
trackStartXPoint	double	Tracking start X point

Request Example

{
  "conveyorID": 1,
  "position": {
    "receLatestPos": 0.0,
    "trackRangeXMax": 0.0,
    "trackStartXPoint": 0.0
  },
  "robot": 1
}

---

0x8201 Host sends, track conveyor position query

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,9]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8202 Controller replies, track conveyor position

Parameter List

Parameter	Type	Description	Value Range
conveyorID	int	Conveyor process number	[1,9]
position	object	Position parameter object	-
robot	int	Robot number	[1,4]

position Sub-parameters

Parameter	Type	Description
calibrationFlag	array	Calibration flags, the first three indicate whether "latest receive coordinate", "maximum tracking range coordinate", and "tracking start coordinate" are calibrated
posToMove	array	The first three arrays are the latest receive coordinate, maximum tracking range coordinate, and tracking start coordinate
receLatestPos	double	Latest receive X value
trackRangeXMax	double	Maximum tracking range
trackStartXPoint	double	Tracking start X point

Response Example

{
  "conveyorID": 1,
  "position": {
    "calibrationFlag": [0, 0, 0, 0, 0, 0, 0],
    "posToMove": [
      [3, 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],
      [3, 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],
      [3, 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],
      [3, 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],
      [3, 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],
      [3, 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],
      [3, 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]
    ],
    "receLatestPos": 0.0,
    "trackRangeXMax": 0.0,
    "trackStartXPoint": 0.0
  },
  "robot": 1
}

---

0x8210 Host sends, conveyor parameters setting

Parameter List

Parameter	Type	Description	Value Range
conveyor	object	Conveyor parameter object	-
conveyorID	int	Conveyor process number	[1,9]
robot	int	Robot number	[1,4]
track	object	Track parameter object	-

conveyor Sub-parameters

Parameter	Type	Description	Value Range
encoderDirection	int	Encoder direction: 1 forward, -1 reverse	-
encoderResolution	double	Resolution (lines/mm)	[0,10000]
encoderValue	string	Encoder value	-
encoder_num	int	Encoder number	-
encoder_sum	int	Total encoder count	-
maxEncoderVal	string	Maximum encoder value	-
minEncoderVal	string	Minimum encoder value	-
posRecordMode	int	Position mode: 0 encoder, 1 constant speed setting	[0,1]
speed	double	Encoder speed (mm/s)	-

track Sub-parameters

Parameter	Type	Description	Unit
arch_height	int	Arch height	mm
arch_straight_len	int	Arch straight-line distance	mm

Request Example

{
  "conveyor": {
    "encoderDirection": 1,
    "encoderResolution": 44.33,
    "encoderValue": "0",
    "encoder_num": 1,
    "encoder_sum": 0,
    "maxEncoderVal": "2147483647",
    "minEncoderVal": "-2147483648",
    "posRecordMode": 0,
    "speed": 0.0
  },
  "conveyorID": 1,
  "robot": 1,
  "track": {
    "arch_height": 30,
    "arch_straight_len": 10
  }
}

---

0x8211 Host sends, query conveyor parameters

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,9]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8212 Controller returns, conveyor parameters

Parameter List

Parameter	Type	Description	Value Range
conveyor	object	Conveyor parameter object	-
conveyorID	int	Conveyor process number	[1,9]
robot	int	Robot number	[1,4]
track	object	Track parameter object	-

conveyor Sub-parameters

Parameter	Type	Description	Value Range
encoderDirection	int	Encoder direction: 1 forward, -1 reverse	-
encoderResolution	double	Resolution (lines/mm)	[0,10000]
encoderValue	string	Encoder value	-
encoder_num	int	Encoder number	-
encoder_sum	int	Total encoder count	-
maxEncoderVal	string	Maximum encoder value	-
minEncoderVal	string	Minimum encoder value	-
posRecordMode	int	Position mode: 0 encoder, 1 constant speed setting	[0,1]
speed	double	Encoder speed (mm/s)	-

track Sub-parameters

Parameter	Type	Description	Unit
arch_height	int	Arch height	mm
arch_straight_len	int	Arch straight-line distance	mm

Response Example

{
  "conveyor": {
    "encoderDirection": 1,
    "encoderResolution": 44.33,
    "encoderValue": "0",
    "encoder_num": 1,
    "encoder_sum": 0,
    "maxEncoderVal": "2147483647",
    "minEncoderVal": "-2147483648",
    "posRecordMode": 0,
    "speed": 0.0
  },
  "conveyorID": 1,
  "robot": 1,
  "track": {
    "arch_height": 30,
    "arch_straight_len": 10
  }
}

---

0x8213 Conveyor Position Check Parameter Setting

Parameter List

Parameter	Type	Description	Value Range
conveyorID	int	Conveyor process number	[1,9]
detectSrc	object	Detection source parameter object	-
robot	int	Robot number	[1,4]

detectSrc Sub-parameters

Parameter	Type	Description	Value Range
DI_capturePos	int	Bound trigger signal IO	Depends on current IO count
filter_data_missing_triggered_latch_data_	bool	Whether to filter untriggered latched signals	-
sensorTrg	int	Sensor trigger method: 0 falling edge trigger, 1 rising edge trigger	[0,1]
type	int	Detection and recognition type: 0 sensor, 1 vision, 2 sensor+vision, 3 global variable+modbus, 4 global variable+vision	[0,4]
visionID	int	Vision process number	[1,9]
vision_io_filter_type	int	Vision filter type: 0 signal trigger filter, 1 signal trigger filter, 2 no filter	[0,2]
vision_latch_encoder_value_type	int	Vision latch encoder value type: 0 vision trigger latch, 1 data received latch	[0,1]

Request Example

{
  "conveyorID": 1,
  "detectSrc": {
    "DI_capturePos": 0,
    "filter_data_missing_triggered_latch_data_": true,
    "sensorTrg": 0,
    "sensor_safe_trigger_interval": 1.0,
    "type": 2,
    "visionID": 1,
    "vision_io_filter_type": 0,
    "vision_latch_encoder_value_type": 1
  },
  "robot": 1
}

---

0x8214 Host sends, conveyor position check parameter query

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,9]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8215 Controller replies, conveyor position check parameter received

Parameter List

Parameter	Type	Description	Value Range
conveyorID	int	Conveyor process number	[1,9]
detectSrc	object	Detection source parameter object	-
robot	int	Robot number	[1,4]

detectSrc Sub-parameters

Parameter	Type	Description	Value Range
DI_capturePos	int	Bound trigger signal IO	Depends on current IO count
filter_data_missing_triggered_latch_data_	bool	Whether to filter untriggered latched signals	-
sensorTrg	int	Sensor trigger method: 0 falling edge trigger, 1 rising edge trigger	[0,1]
type	int	Detection and recognition type: 0 sensor, 1 vision, 2 sensor+vision, 3 global variable+modbus, 4 global variable+vision	[0,4]
visionID	int	Vision process number	[1,9]
vision_io_filter_type	int	Vision filter type: 0 signal trigger filter, 1 signal trigger filter, 2 no filter	[0,2]
vision_latch_encoder_value_type	int	Vision latch encoder value type: 0 vision trigger latch, 1 data received latch	[0,1]

Response Example

{
  "conveyorID": 1,
  "detectSrc": {
    "DI_capturePos": 0,
    "filter_data_missing_triggered_latch_data_": true,
    "sensorTrg": 0,
    "sensor_safe_trigger_interval": 1.0,
    "type": 2,
    "visionID": 1,
    "vision_io_filter_type": 0,
    "vision_latch_encoder_value_type": 1
  },
  "robot": 1
}

---

0x8218 Host sends, conveyor user coordinate setting

Parameter List

Parameter	Type	Description	Value Range
conveyorID	int	Conveyor process number	[1,9]
robot	int	Robot number	[1,4]
sensorPos	object	Sensor position	-
userCoord	int	User coordinate frame number	[1,999]
userFrame	array	User coordinate frame	double type array

sensorPos Sub-parameters

Parameter	Type
X	double
Y	double
Z	double
A	double
B	double
C	double

Request Example

{
  "conveyorID": 1,
  "robot": 1,
  "sensorPos": {
    "A": 0.0,
    "B": 0.0,
    "C": 0.0,
    "X": 0.0,
    "Y": 0.0,
    "Z": 0.0
  },
  "userCoord": 1,
  "userFrame": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}

---

0x8219 Host sends, conveyor user coordinate query

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,9]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x821A Controller replies, conveyor user coordinate received

Parameter List

Parameter	Type	Description	Value Range
conveyorID	int	Conveyor process number	[1,9]
robot	int	Robot number	[1,4]
sensorPos	object	Sensor position (radians)	-
sensorPosDeg	object	Sensor position (degrees)	-
userCoord	int	User coordinate frame number	[1,999]
userFrame	array	User coordinate frame (radians)	double type array
userFrameDeg	array	User coordinate frame (degrees)	double type array

sensorPos / sensorPosDeg Sub-parameters

Parameter	Type
X	double
Y	double
Z	double
A	double
B	double
C	double

Response Example

{
  "conveyorID": 1,
  "robot": 1,
  "sensorPos": {
    "A": 0.0,
    "B": 0.0,
    "C": 0.0,
    "X": 0.0,
    "Y": 0.0,
    "Z": 0.0
  },
  "sensorPosDeg": {
    "A": 0.0,
    "B": 0.0,
    "C": 0.0,
    "X": 0.0,
    "Y": 0.0,
    "Z": 0.0
  },
  "userCoord": 1,
  "userFrame": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  "userFrameDeg": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}

---

0x821B Set Conveyor Filter Parameters

Command: 0x821B

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
threshold_pos	array	Thresholds corresponding to xyzabc	-
angle_filter_enable	bool	Angle filter enable for vision filtering	-

Request Example

{
  "robot": 1,
  "conveyorID": 1,
  "threshold_pos": [10, 10, 10, 10, 10, 10],
  "angle_filter_enable": true
}

---

0x821C Query Conveyor Filter Parameters

Command: 0x821C

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x821D Reply Conveyor Filter Parameters

Command: 0x821D

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
vision_filter_shreshold	object	Filter threshold parameter object	-

vision_filter_shreshold Sub-parameters

Parameter	Type	Description
angle_filter_enable	bool	Angle filter enable for vision filtering
threshold_pos	array	xyz filter thresholds (double type array)

Response Example

{
  "robot": 1,
  "conveyorID": 1,
  "vision_filter_shreshold": {
    "angle_filter_enable": false,
    "threshold_pos": [10, 5, 5, 0.1, 0.1, 0.1]
  }
}

---

0x8226 Conveyor Sensor Calibration

Command: 0x8226

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
posNum	int	Calibration step point number	[1,4]

Request Example

{
  "robot": 1,
  "conveyorID": 1,
  "posNum": 1
}

---

0x8227 Cancel Conveyor Sensor Calibration

Command: 0x8227

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8229 Query Conveyor Data Source and Recognition Type

Command: 0x8229

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8230 Reply Conveyor Data Source and Recognition Type

Command: 0x8230

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
detectSrc	object	Detection source parameter object	-
identification	object	Recognition parameter object	-

detectSrc Sub-parameters

Parameter	Type	Description	Value Range
type	int	Data source type: 0 vision, 1 IO, 2 global variable	[0,2]

identification Sub-parameters

Parameter	Type	Description	Value Range
type	int	Recognition type: 0 vision, 1 sensor	[0,1]

Response Example

{
  "robot": 1,
  "conveyorID": 1,
  "detectSrc": {
    "type": 0
  },
  "identification": {
    "type": 0
  }
}

---

0x8231 Sensor Conveyor Calibration Calculation Result

Command: 0x8231

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8232 Conveyor Vision Calibration

Command: 0x8232

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
step	int	Corresponds to the six steps of vision calibration	[1,6]

Request Example

{
  "robot": 1,
  "conveyorID": 1,
  "step": 1
}

---

0x8233 Query Conveyor Vision Calibration Data

Command: 0x8233

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
step	int	Corresponds to the six steps of vision calibration	[1,6]

Request Example

{
  "robot": 1,
  "conveyorID": 1,
  "step": 1
}

---

0x8234 Clear Conveyor Calibration Data

Command: 0x8234

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
step	int	Corresponds to the six steps of vision calibration	[1,6]

Request Example

{
  "robot": 1,
  "conveyorID": 1,
  "step": 1
}

---

0x8235 Reply Conveyor Calibration Data

Command: 0x8235

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]
step	int	Corresponds to the six steps of vision calibration	[1,6]
U1	double	X coordinate of pixel coordinate in step 1
V1	double	Y coordinate of pixel coordinate in step 1
encodorValue	string	Encoder value in step 1
X2	double	X coordinate in step 2
Y2	double	Y coordinate in step 2
Z2	double	Z coordinate in step 2
X3	double	X coordinate in step 3
Y3	double	Y coordinate in step 3
Z3	double	Z coordinate in step 3
encoder_resolution	double	Encoder resolution in step 3
U4	double	X coordinate of pixel coordinate in step 4
V4	double	Y coordinate of pixel coordinate in step 4
X5	double	X coordinate in step 5
Y5	double	Y coordinate in step 5
Z5	double	Z coordinate in step 5
X6	double	X coordinate in step 6
Y6	double	Y coordinate in step 6
Z6	double	Z coordinate in step 6

Step Request Examples

Step 1:

{
  "robot": 1,
  "conveyorID": 1,
  "step": 1,
  "U1": 0,
  "V1": 0,
  "encodorValue": "0"
}

Step 2:

{
  "robot": 1,
  "conveyorID": 1,
  "step": 2,
  "X2": 0,
  "Y2": 0,
  "Z2": 0,
  "encodorValue": "0"
}

Step 3:

{
  "robot": 1,
  "conveyorID": 1,
  "step": 3,
  "X3": 0,
  "Y3": 0,
  "Z3": 0,
  "encodorValue": "0",
  "encoder_resolution": 0.0
}

Step 4:

{
  "robot": 1,
  "conveyorID": 1,
  "step": 4,
  "U4": 0,
  "V4": 0,
  "encodorValue": "0"
}

Step 5:

{
  "robot": 1,
  "conveyorID": 1,
  "step": 5,
  "X5": 0,
  "Y5": 0,
  "Z5": 0,
  "encodorValue": "0"
}

Step 6:

{
  "robot": 1,
  "conveyorID": 1,
  "step": 6,
  "X6": 0,
  "Y6": 0,
  "Z6": 0
}

---

0x8236 Vision Conveyor Calibration Calculation Result

Command: 0x8236

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8237 Set Conveyor Advanced Parameters

Command: 0x8237

Parameter List

Parameter	Type	Description	Value Range
compensation	object	Compensation parameter object	-
compensation_acc_multiple	double	Deviation start segment acceleration multiplier	-
compensation_max_len	double	Maximum single compensation distance	-
conveyorID	int	Conveyor process number	[1,9]
exception	object	Exception parameter object	-
is_start_smoothly	bool	Whether smooth tracking is enabled	-
obj_distribute_proportion	int	Multi-machine: object distribution ratio for the next machine	-
robot	int	Robot number	[1,4]
start_acc_multiple	double	Sync start segment acceleration multiplier	-
stop_acc_multiple	double	Sync end segment acceleration multiplier	-
sync_param	object	Sync PID parameter object	-

compensation Sub-parameters

Parameter	Type	Description
distance	double	Encoder compensation distance
encoderVal	string	Encoder compensation encoder value
time	double	Encoder compensation time

exception Sub-parameters

Parameter	Type	Description
multiple_of_axis_max_vel	double	Speed threshold multiplier for warning and abandoning synchronization

sync_param Sub-parameters

Parameter	Type	Description
kd	double	Sync PID proportional coefficient
ki	double	Sync PID integral coefficient
kp	double	Sync PID derivative coefficient
limit_acc_multiple	double	Sync PID output acceleration multiplier limit
max_out	double	Sync PID output limit

Request Example

{
  "compensation": {
    "distance": 0.0,
    "encoderVal": "0",
    "time": 10.0
  },
  "compensation_acc_multiple": 20.0,
  "compensation_max_len": 8.0,
  "conveyorID": 1,
  "exception": {
    "multiple_of_axis_max_vel": 0.950
  },
  "is_start_smoothly": false,
  "obj_distribute_proportion": 100,
  "robot": 1,
  "start_acc_multiple": 20.0,
  "stop_acc_multiple": 20.0,
  "sync_param": {
    "kd": 0.050,
    "ki": 0.050,
    "kp": 0.40,
    "limit_acc_multiple": 0.40,
    "max_out": 0.60
  }
}

---

0x8238 Query Conveyor Advanced Parameters

Command: 0x8238

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x8239 Reply Conveyor Advanced Parameters

Command: 0x8239

Parameter List

Parameter	Type	Description	Value Range
compensation	object	Compensation parameter object	-
compensation_acc_multiple	double	Deviation start segment acceleration multiplier	-
compensation_max_len	double	Maximum single compensation distance	-
conveyorID	int	Conveyor process number	[1,9]
exception	object	Exception parameter object	-
is_start_smoothly	bool	Whether smooth tracking is enabled	-
obj_distribute_proportion	int	Multi-machine: object distribution ratio for the next machine	-
robot	int	Robot number	[1,4]
start_acc_multiple	double	Sync start segment acceleration multiplier	-
stop_acc_multiple	double	Sync end segment acceleration multiplier	-
sync_param	object	Sync PID parameter object	-

compensation Sub-parameters

Parameter	Type	Description
distance	double	Encoder compensation distance
encoderVal	string	Encoder compensation encoder value
time	double	Encoder compensation time

exception Sub-parameters

Parameter	Type	Description
multiple_of_axis_max_vel	double	Speed threshold multiplier for warning and abandoning synchronization

sync_param Sub-parameters

Parameter	Type	Description
kd	double	Sync PID proportional coefficient
ki	double	Sync PID integral coefficient
kp	double	Sync PID derivative coefficient
limit_acc_multiple	double	Sync PID output acceleration multiplier limit
max_out	double	Sync PID output limit

Response Example

{
  "compensation": {
    "distance": 0.0,
    "encoderVal": "0",
    "time": 10.0
  },
  "compensation_acc_multiple": 20.0,
  "compensation_max_len": 8.0,
  "conveyorID": 1,
  "exception": {
    "multiple_of_axis_max_vel": 0.950
  },
  "is_start_smoothly": false,
  "obj_distribute_proportion": 100,
  "robot": 1,
  "start_acc_multiple": 20.0,
  "stop_acc_multiple": 20.0,
  "sync_param": {
    "kd": 0.050,
    "ki": 0.050,
    "kp": 0.40,
    "limit_acc_multiple": 0.40,
    "max_out": 0.60
  }
}

---

0x823A Multi-machine Communication Test

Command: 0x823A

Parameter List

Parameter	Type	Description	Value Range
robot	int	Robot number	[1,4]
conveyorID	int	Conveyor process number	[1,99]

Request Example

{
  "robot": 1,
  "conveyorID": 1
}

---

0x823B Multi-machine Communication Test Data Reply

Command: 0x823B

Parameter List

Parameter	Type	Description
recvTargetData	string	Consistent with the data format set by the camera

Response Example

{
  "recvTargetData": "xxx,xxx,xxx"
}

Note: 0x821E and 0x821F have been removed (these two command words are no longer used).