iNexBot 오픈 플랫폼

한국어

中文
English

한국어

中文
English

Appearance

동역학 ​

负로드활성화 ​

  • 설명
  • 토크드래그일 때필요열기负로드활성화并수정실제토크변환比
  • 실제토크변환比이(가)부터Nm단위값변환이(가)서보0x6077값比例닫기系，해당比例닫기系알림常由서보厂家제공
  • 전송센서매개변수由전송센서厂家제공，중심X와/과중심Y알림常이(가)0，중심Z이(가)전송센서高도1半
  • 호스트 컴퓨터설정负로드활성화매개변수 명령어： 0x4000
  • "axis1_actual_torq_conversion_ratio":8.5470
  • 1축실제토크변환比；double유형
  • "axis2_actual_torq_conversion_ratio":8.6960
  • 二축실제토크변환比；double유형
  • "axis3_actual_torq_conversion_ratio":10.0
  • 三축실제토크변환比；double유형
  • "axis4_actual_torq_conversion_ratio":10.0
  • 四축실제토크변환比；double유형
  • "axis5_actual_torq_conversion_ratio":10.0
  • 五축실제토크변환比；double유형
  • "axis6_actual_torq_conversion_ratio":10.0
  • 六축실제토크변환比；double유형
  • "payload_enable":false
json
{
  "axis1_actual_torq_conversion_ratio":8.5470,
  "axis2_actual_torq_conversion_ratio":8.6960,
  "axis3_actual_torq_conversion_ratio":10.0,
  "axis4_actual_torq_conversion_ratio":10.0,
  "axis5_actual_torq_conversion_ratio":10.0,
  "axis6_actual_torq_conversion_ratio":10.0,
  "payload_enable":false
}
  • 负로드활성화；bool유형
  • 호스트 컴퓨터조회负로드활성화매개변수
json
{}

명령어： 0x4001

  • 컨트롤러回복원호스트 컴퓨터负로드활성화매개변수

조회负로드활성화매개변수（실제토크변환比） ​

명령어： 0x4002

컨트롤러回복원

필드유형설명
axis1_actual_torq_conversion_ratiodouble1축실제토크변환比
axis2_actual_torq_conversion_ratiodouble二축실제토크변환比
axis3_actual_torq_conversion_ratiodouble三축실제토크변환比
axis4_actual_torq_conversion_ratiodouble四축실제토크변환比
axis5_actual_torq_conversion_ratiodouble五축실제토크변환比
axis6_actual_torq_conversion_ratiodouble六축실제토크변환比
payload_enablebool负로드활성화
json
{
  "axis1_actual_torq_conversion_ratio": 8.5470,
  "axis2_actual_torq_conversion_ratio": 8.6960,
  "axis3_actual_torq_conversion_ratio": 10.0,
  "axis4_actual_torq_conversion_ratio": 10.0,
  "axis5_actual_torq_conversion_ratio": 10.0,
  "axis6_actual_torq_conversion_ratio": 10.0,
  "payload_enable": false
}
  • 负로드활성화；bool유형
  • 호스트 컴퓨터설정负로드활성화프로세스번호 명령어： 0x4003
  • "payload_num":1
json
{
  "payload_num":1
}
  • 负로드활성화프로세스번호；int유형
  • 컨트롤러回복원호스트 컴퓨터负로드활성화프로세스번호 명령어： 0x4004
  • "payload_num":1
json
{
  "payload_num":1
}

이외部按键 ​

  • 负로드활성화프로세스번호；int유형
  • 설명
  • 가능사용하여IO触전송相해야 함기능，按队열순서대로각각드래그모드、조그모드、시작궤적采集、종료궤적采集、시작궤적 재생、정지궤적 재생、활성화、활성화、夹爪열기、夹爪닫기、저장궤적、바로가기명령어1、바로가기명령어2、바로가기명령어3、바로가기명령어4、바로가기명령어5
  • 바로가기명령어범위[0,9]，0의미미선택，1의미포인트포인트명령어，2의미직선명령어，3의미원호명령어，4의미정리圆명령어，5의미曲线명령어，6의미용접시작명령어，7의미용접종료명령어，8의미위빙시작명령어，9의미위빙종료명령어
  • 호스트 컴퓨터조회기능제어매개변수
json
{}

명령어： 0x4020

  • 컨트롤러回복원호스트 컴퓨터기능제어매개변수 명령어： 0x4021
  • "IoInPortArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
  • 각기능触전송포트열테이블；int유형
  • 범위이(가)현재IO포트수，없음IO일 때이(가)0
  • "fastCommand":[0,0,0,0,0]
  • 바로가기명령어기능선택열테이블；int유형，범위[0,9]
  • "hardwareTypeArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
  • 触전송하드웨어유형열테이블；int유형
  • 기본값예IO触전송
  • "isClearTrack":0
  • 저장뒤해제궤적；int유형，범위[0,1]
  • 0의미해제，1의미아님해제
  • "modeArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0]
  • 포트触전송매개변수 목록；int유형，범위[0,1]
  • "parameterArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0]
  • 포트触전송방식열테이블；int유형，범위[0,2]
  • 0의미长按，1의미短按，2의미배치비트
  • "craft":{
  • "weldBeadSize":2
  • 多레이어多道焊현재焊道수；int유형；가져오기값을범위：1-99
  • "dragTeachSelectCraft":0
json
{
  "IoInPortArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "fastCommand":[0,0,0,0,0],
  "hardwareTypeArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "isClearTrack":0,
  "modeArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0],
  "parameterArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0],
  "craft":
  {
    "weldBeadSize":2
  },
  "dragTeachSelectCraft":0
}
  • 드래그표시教프로세스선택；int유형；가져오기값을범위[0,1]
  • 호스트 컴퓨터조회상태참고매개변수
json
{}

명령어： 0x4022

  • 컨트롤러回복원호스트 컴퓨터상태참고매개변수 명령어： 0x4023
  • "IoDoutPortArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
  • 각기능触전송포트열테이블；int유형
  • 범위이(가)현재IO포트수，없음IO일 때이(가)0
  • "hardwareTypeArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
  • 触전송하드웨어유형열테이블；int유형
  • 기본값예IO触전송
  • "parameterArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
json
{
  "IoDoutPortArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "hardwareTypeArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "parameterArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
}
  • 포트触전송매개변수 목록；int유형，범위[0,2]
  • 0의미0，1의미1，2의미闪烁
  • 호스트 컴퓨터설정기능제어또는상태참고매개변수 명령어： 0x4024
  • "_isFunctionalControl":true
  • 여부이(가)기능제어매개변수；bool유형
  • true의미설정기능제어매개변수，false의미설정상태참고매개변수
  • "fastCommand":[0,0,0,0,0]
  • 바로가기명령어기능선택열테이블；int유형，범위[0,9]
  • "hardwareTypeArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
  • 触전송하드웨어유형열테이블；int유형
  • 기본값예IO触전송
  • "isClearTrack":0
  • 저장뒤해제궤적；int유형，범위[0,1]
  • 0의미해제，1의미아님해제
  • "modeArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0]
  • 포트触전송방식열테이블；int유형，범위[0,2]
  • 각각의미"长按""短按""배치비트"
  • "parameterArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0]
  • 포트触전송매개변수 목록；int유형
  • 기능제어일 때범위[0,1]
  • 상태참고매개변수일 때범위[0,2]，2의미"闪烁"
  • "portArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
  • 각기능触전송포트열테이블；int유형
  • 범위이(가)현재IO포트수，없음IO일 때이(가)0
  • "dragTeachSelectCraft":0
json
{
  "_isFunctionalControl":true,
  "fastCommand":[0,0,0,0,0],
  "hardwareTypeArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "isClearTrack":0,
  "modeArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0],
  "parameterArr":[0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0],
  "portArr":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
  "dragTeachSelectCraft":0
}
  • 드래그표시教프로세스선택；int유형；가져오기값을범위[0,1]
  • 컨트롤러전송바로가기삽입명령어 명령어： 0x4025
  • "fastCommandSelectd":1
  • 완료선택바로가기기능；int유형，범위[0,9]
  • 가져오기값을에서[1,5]일 때"pos"와/과"posture"노드존재
  • "name":11
  • 바로가기기능번호；int유형，범위[11,15]
  • 각각의미바로가기기능1~5
  • "pos":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
  • 삽입명령어위치정보열테이블；double유형
  • 길이이(가)7
  • "posture":8
json
{
  "fastCommandSelectd":1,
  "name":11,
  "pos":[0.0,0.0,0.0,0.0,0.0,0.0,0.0],
  "posture":8
}

동역학매개변수 ​

  • 삽입명령어위치자세；int유형，범위[0,9]
  • 설명
  • 필요가져오기줄토크드래그일 때필수先가져오기줄1회동역학辨인식
  • 호스트 컴퓨터설정동역학매개변수 명령어： 0x4030
  • "Dyna_Param":[0,0,0,0,0,0,0,0,0,0,0,0]
  • 동역학매개변수 목록；double 유형
  • 제1비트의미질량，제2비트의미중심X，제3비트의미중심Y，제4비트의미중심Z，제5비트의미관성 텐서XX，제6비트의미관성 텐서XY，제7비트의미관성 텐서XZ，제8비트의미관성 텐서YY，제9비트의미관성 텐서YZ，제10비트의미관성 텐서ZZ，제11비트의미이동摩擦系수，제12비트의미静摩擦系수
  • "joint_num":6
json
{
  "Dyna_Param":[0,0,0,0,0,0,0,0,0,0,0,0],
  "joint_num":6
}
  • 로봇축수；int 유형
  • 호스트 컴퓨터조회동역학매개변수
json
{}

명령어： 0x4031

  • 컨트롤러回복원호스트 컴퓨터동역학매개변수 명령어： 0x4032
  • "Dyna_Param":[0,0,0,0,0,0,0,0,0,0,0,0]
  • 동역학매개변수 목록；double 유형
  • 제1비트의미질량，제2비트의미중심X，제3비트의미중심Y，제4비트의미중심Z，제5비트의미관성 텐서XX，제6비트의미관성 텐서XY，제7비트의미관성 텐서XZ，제8비트의미관성 텐서YY，제9비트의미관성 텐서YZ，제10비트의미관성 텐서ZZ，제11비트의미이동摩擦系수，제12비트의미静摩擦系수
  • "joint_num":6
json
{
  "Dyna_Param":[0,0,0,0,0,0,0,0,0,0,0,0],
  "joint_num":6
}
  • 로봇축수；int 유형
  • 호스트 컴퓨터요청 매개변수辨인식
json
{}

명령어： 0x4033

  • 컨트롤러回복원호스트 컴퓨터매개변수辨인식결과 명령어： 0x4034
  • "finish":false
json
{
  "finish":false
}
  • 辨인식종료；bool유형
  • 호스트 컴퓨터요청시작辨인식
json
{}

명령어： 0x4035

  • 컨트롤러回복원호스트 컴퓨터辨인식오류差값을 명령어： 0x4036
  • "error":[0.0,0.0,0.0,0.0,0.0,0.0]
json
{
  "error":[0.0,0.0,0.0,0.0,0.0,0.0]
}
  • 转矩오류差열테이블；double유형
  • 컨트롤러回복원호스트 컴퓨터辨인식결과 명령어： 0x4037
  • "finish":1
json
{
  "finish":1
}
  • 辨인식결과；int유형
  • 컨트롤러辨인식过程에 복사합니다오류정지전송에게호스트 컴퓨터 명령어： 0x4038
  • "ErrorStop":1
json
{
  "ErrorStop":1
}

负로드辨인식 ​

  • 오류정지；int유형
  • 호스트 컴퓨터요청负로드辨인식데이터 명령어： 0x4040
  • data：없음
  • 호스트 컴퓨터요청辨인식계산负로드질량와/과중심 명령어： 0x4041
  • data：없음
  • 호스트 컴퓨터요청辨인식계산관성 명령어： 0x4042
  • data：없음
  • 컨트롤러回복원负로드辨인식결과(负로드질량와/과중심 / 관성) 또는负로드데이터 명령어： 0x4043
  • "result":true
  • 负로드辨인식결과；bool유형；
  • true：负로드辨인식성공(표시데이터)；false：负로드辨인식실패
  • "mass":3.6
  • 질량；double유형；kg
  • "massCenterX":0.53
  • 중심X；double유형；m
  • "massCenterY":2.3
  • 중심Y；double유형；m
  • "massCenterZ":1.3
  • 중심Z；double유형；m
  • "Ixx":0.0
  • 관성X；double유형；kg·m²
  • "Iyy":0.0
  • 관성Y；double유형；kg·m²
  • "Izz":0.0
json
{
"result":true,
"mass":3.6,
"massCenterX":0.53,
"massCenterY":2.3,
"massCenterZ":1.3,
"Ixx":0.0,
"Iyy":0.0,
"Izz":0.0
}
  • 관성Z；double유형；kg·m²
  • 호스트 컴퓨터요청저장负로드데이터해당도구 명령어： 0x4044
  • "targetTool":1
json
{
"targetTool":1
}
  • 필요저장도구번호；int유형；가져오기값을범위[1,999]
  • 컨트롤러回복원저장负로드데이터해당도구 명령어： 0x4045
  • "result":true
json
"result":true
  • 저장여부성공；bool유형
  • true:저장성공；false:저장실패
  • 호스트 컴퓨터요청空로드辨인식 명령어： 0x4046
  • data:없음
  • 컨트롤러回복원回해야 함空로드辨인식 명령어： 0x4047
  • "result":true
json
{
"result":true
}
  • 空로드辨인식결과；bool유형；
  • true:空로드辨인식성공;false:空로드辨인식실패
  • 호스트 컴퓨터요청다운로드空로드구성파일데이터 명령어： 0x4048
  • data:없음
  • 컨트롤러回복원다운로드空로드구성파일데이터 명령어： 0x4049
  • "name":"config/identification_xxxxx.json"
json
{
"name":"config/identification_xxxxx.json"
}

软浮이동매개변수 ​

  • 구성파일에서컨트롤러경로；string유형
  • xxxx이(가)bios가져오기일 때사이
  • 호스트 컴퓨터가져오기软浮이동매개변수 명령어： 0x404A
  • "softfloat":{}
  • "num":0
json
{
  "softfloat":
  {
    "num":0
  }
}
  • 含义해당1-9번째매개변수프로세스번호；유형int；가져오기값을범위[0-8]
  • 컨트롤러回복원软浮이동매개변수 명령어： 0x404B
  • "softfloat":{}
  • "num":0
  • 含义해당1-9번째매개변수프로세스번호；유형int；가져오기값을범위[0-8]
  • "percentage"[j][k]:[]
  • 含义해당 관절 직교 도구 사용자；유형int；범위j(0-3) k(0-6)
  • 매종류좌표계에 복사합니다각각柔软도%(例:관절 j1 j2 j3 ...;직교 X Y Z A..)
  • "coord":0
  • 含义해당 프로세스번호선택좌표계유형（관절 직교 도구 사용자）； 유형int；범위0-3
  • "note":"xxxx"
json
{
  "softfloat":
  {
    "num":0,
    "percentage":
    [
      [],[]......
    ]
    "coord":0,
    "note":"xxxx"
  }
}
  • 含义등록해제；유형string
  • 호스트 컴퓨터 전송설정软浮이동매개변수
  • 0x404C
  • "softfloat":{}
  • "num":0
  • 含义해당1-9번째매개변수프로세스번호；유형int；가져오기값을범위[0-8]
  • "percentage"[j]:[]
  • 含义해당 관절 직교 도구 사용자；유형int；범위j(0-3)
  • 매종류좌표계에 복사합니다각각柔软도%
  • "coord":0
  • 含义해당 프로세스번호선택좌표계유형（관절 직교 도구 사용자）； 유형int；범위0-3
  • "note":"xxxx"
json
{
  "softfloat":
  {
    "num":0,
    "percentage":
    [
      ......
    ]
    "coord":0,
    "note":"xxxx"
  }
}

안전상태 ​

  • 含义등록해제；유형string
  • 호스트 컴퓨터조회안전상태(측정테스트辨인식궤적여부안전)
json
{}

명령어： 0x407A

  • 컨트롤러回복원호스트 컴퓨터안전상태 명령어： 0x407B
json
{
  "finish":1
}
  • "finish":1
  • 辨인식결과；int유형
  • 호스트 컴퓨터요청설정辨인식궤적매개변수 명령어： 0x4077
  • "traSize":10.0
  • 辨인식궤적범위；int유형，범위[1,100]
  • 제1회请채우기입력较小값
  • "traVel":100.0
json
{
  "traSize":10.0,
  "traVel":100.0
}
  • 辨인식궤적속도；int유형，범위[1,100]
  • 먼저사용하여低速측정테스트안전，辨인식사용하여100
  • 호스트 컴퓨터조회辨인식궤적매개변수
json
{}

명령어： 0x4078

  • 컨트롤러回복원호스트 컴퓨터辨인식궤적매개변수 명령어： 0x4079
  • "alreadyIden":false
  • 여부완료완료辨인식；bool유형
  • "traSize":10.0
  • 辨인식궤적범위；int유형，범위[1,100]
  • "traVel":10.0
json
{
  "alreadyIden":false,
  "traSize":10.0,
  "traVel":10.0
}
  • 辨인식궤적속도；int유형，범위[1,100]
  • 컨트롤러回복원호스트 컴퓨터현재궤적Z最값을 명령어： 0x407C
  • "zMax":636.712935786949
  • 현재궤적Z최대값을；double유형
  • "zMin":505.396403159378
json
{
  "zMax":636.712935786949,
  "zMin":505.396403159378
}

적응형해야 함가감속 ​

  • 현재궤적Z최소값을；double유형
  • 설명
  • 호스트 컴퓨터설정적응형해야 함가감속阈값을매개변수 명령어： 0x4050
  • "Inertia_or_mass_or_both":[0,0,0,0,0,0]
  • 각축限생성항목件열테이블；int유형，범위[0,2]
  • 0의미"관성"，1의미"질량"，2의미"并줄"
  • "Load_or_center":[0,0,0,0,0,0]
  • 각축参考포인트열테이블；int유형，범위[0,1]
  • 0의미"负로드"，1의미"회전에 복사합니다心"
  • "_inertiaAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]]
  • 각축관성추가속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다추가속도값
  • "_inertiaSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]]
  • 각축관성속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다속도값
  • "_massAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]],
  • 각축질량추가속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다추가속도값
  • "_massSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]]
  • 각축질량속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다속도값
  • "inertiaMap_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]]
  • 각축관성속도해당관성2차원배열；double유형，범위[0,100000]0.001kgm^2
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다속도해당관성값
  • "inertiaMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
  • 각축관성추가속도해당관성2차원배열；double유형，범위[0,100000]0.001kgm^2
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다추가속도해당관성값
  • "massMap_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]]
  • 각축질량속도해당질량2차원배열；double유형，범위[0,100000]kg
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다속도해당질량값
  • "massMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
json
{
  "Inertia_or_mass_or_both":[0,0,0,0,0,0],
  "Load_or_center":[0,0,0,0,0,0],
  "_inertiaAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]],
  "_inertiaSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]],
  "_massAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]],
  "_massSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]],
  "inertiaMap_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]],
  "inertiaMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]],
  "massMap_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]],
  "massMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
}
  • 각축질량추가속도해당질량2차원배열；double유형，범위[0,100000]kg
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다추가속도해당질량값
  • 호스트 컴퓨터조회적응형해야 함가감속阈값을매개변수
json
{}

명령어： 0x4051

  • 컨트롤러回복원호스트 컴퓨터적응형해야 함가감속阈값을매개변수 명령어： 0x4052
  • "Inertia_or_mass_or_both":[0,0,0,0,0,0]
  • 각축限생성항목件열테이블；int유형，범위[0,2]
  • 0의미"관성"，1의미"질량"，2의미"并줄"
  • "Load_or_center":[0,0,0,0,0,0]
  • 각축参考포인트열테이블；int유형，범위[0,1]
  • 0의미"负로드"，1의미"회전에 복사합니다心"
  • "_inertiaAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]]
  • 각축관성추가속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다추가속도값
  • "_inertiaSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]]
  • 각축관성속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다속도값
  • "_massAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]],
  • 각축질량추가속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다추가속도값
  • "_massSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]]
  • 각축질량속도2차원배열；double유형，범위(0,100]％
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다속도값
  • "inertiaMap_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]]
  • 각축관성속도해당관성2차원배열；double유형，범위[0,100000]0.001kgm^2
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다속도해당관성값
  • "inertiaMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
  • 각축관성추가속도해당관성2차원배열；double유형，범위[0,100000]0.001kgm^2
  • 1차원의미각축，2차원의미속도-관성-추가속도-관성열테이블에 복사합니다추가속도해당관성값
  • "massMap_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]]
  • 각축질량속도해당질량2차원배열；double유형，범위[0,100000]kg
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다속도해당질량값
  • "massMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
json
{
  "Inertia_or_mass_or_both":[0,0,0,0,0,0],
  "Load_or_center":[0,0,0,0,0,0],
  "_inertiaAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]],
  "_inertiaSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]],
  "_massAcc":[[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0],[50.0,50.0,50.0]],
  "_massSpeed":[[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0],[10.0,20.0,30.0]],
  "inertiaMap_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]],
  "inertiaMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]],
  "massMap_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]],
  "massMap_2":[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
}
  • 각축질량추가속도해당질량2차원배열；double유형，범위[0,100000]kg
  • 1차원의미각축，2차원의미속도-질량-추가속도-질량열테이블에 복사합니다추가속도해당질량값
  • 호스트 컴퓨터설정적응형해야 함가감속매개변수 명령어： 0x4053
  • "arm_inertia":[0.0,0.0,0.0]
  • 관절臂体관성열테이블；double유형，범위[0,99999.9]0.001kgm^2
  • 각각의미이(가)"관절1臂体관성","관절2臂体관성","관절3臂体관성"
  • "auto_modify_acc_enable":false
  • 적응형해야 함가감속활성화；bool유형
  • "joint1_mass":0.0
  • 관절1질량；double유형，범위[0,99999.9]kg
  • "joint1_mass_center_to_motor_distance":0.0
  • 관절1중심모터거리；double유형，범위[0,99999.9]m
  • "joint2_mass":0.0
  • 관절2질량；double유형，범위[0,99999.9]kg
  • "joint2_mass_center_to_motor_distance":0.0
  • 관절2중심모터거리；double유형，범위[0,99999.9]m
  • "joint4_mass":0.0
json
{
  "arm_inertia":[0.0,0.0,0.0],
  "auto_modify_acc_enable":false,
  "joint1_mass":0.0,
  "joint1_mass_center_to_motor_distance":0.0,
  "joint2_mass":0.0,
  "joint2_mass_center_to_motor_distance":0.0,
  "joint4_mass":0.0
}
  • 관절4질량；double유형，범위[0,99999.9]kg
  • 호스트 컴퓨터조회적응형해야 함가감속매개변수
json
{}

명령어： 0x4054

  • 컨트롤러回복원호스트 컴퓨터적응형해야 함가감속매개변수 명령어： 0x4055
  • "arm_inertia":[0.0,0.0,0.0]
  • 관절臂体관성열테이블；double유형，범위[0,99999.9]0.001kgm^2
  • 각각의미이(가)"관절1臂体관성","관절2臂体관성","관절3臂体관성"
  • "auto_modify_acc_enable":false
  • 적응형해야 함가감속활성화；bool유형
  • "joint1_mass":0.0
  • 관절1질량；double유형，범위[0,99999.9]kg
  • "joint1_mass_center_to_motor_distance":0.0
  • 관절1중심모터거리；double유형，범위[0,99999.9]m
  • "joint2_mass":0.0
  • 관절2질량；double유형，범위[0,99999.9]kg
  • "joint2_mass_center_to_motor_distance":0.0
  • 관절2중심모터거리；double유형，범위[0,99999.9]m
  • "joint4_mass":0.0
json
{
  "arm_inertia":[0.0,0.0,0.0],
  "auto_modify_acc_enable":false,
  "joint1_mass":0.0,
  "joint1_mass_center_to_motor_distance":0.0,
  "joint2_mass":0.0,
  "joint2_mass_center_to_motor_distance":0.0,
  "joint4_mass":0.0
}
  • 관절4질량；double유형，범위[0,99999.9]kg
  • 호스트 컴퓨터설정위치环比매개변수 명령어： 0x4056
  • "Dynamic_sendServoParam":false
  • 위치环比전송활성화；bool유형
  • "PositionalComparison":
  • 위치环比매개변수 목록
  • "inertiaMax":9999.0
  • 관성최대값을；double유형，범위(0,100000]0.001kgm^2
  • "inertiaMin":8.0
  • 관성최소값을；double유형，범위[0,100000)0.001kgm^2
  • 관성최소값을필수小于관성최대값을
  • "max":8.0
  • 위치루프 비례 게인1최소값을；double유형，범위[0,100000)
  • 위치루프 비례 게인1최소값을필수小于위치루프 비례 게인1최대값을
  • "min":9999.0
json
{
  "Dynamic_sendServoParam":false,
  "PositionalComparison":
  {
    "inertiaMax":9999.0,
    "inertiaMin":8.0,
    "max":8.0,
    "min":9999.0
  }
}
  • 위치루프 비례 게인1최대값을；double유형，범위(0,100000]
  • "max"및"min"매개변수에서구현일 때쓰기反，뒤续가져오기줄수정
  • 호스트 컴퓨터조회위치环比매개변수
json
{}

명령어： 0x4057

  • 컨트롤러回복원호스트 컴퓨터위치环比매개변수 명령어： 0x4058
  • "Dynamic_sendServoParam":false
  • 위치环比전송활성화；bool유형
  • "PositionalComparison":
  • 위치环比매개변수 목록
  • "inertiaMax":9999.0
  • 관성최대값을；double유형，범위(0,100000]0.001kgm^2
  • "inertiaMin":8.0
  • 관성최소값을；double유형，범위[0,100000)0.001kgm^2
  • 관성최소값을필수小于관성최대값을
  • "max":8.0
  • 위치루프 비례 게인1최소값을；double유형，범위[0,100000)
  • 위치루프 비례 게인1최소값을필수小于위치루프 비례 게인1최대값을
  • "min":9999.0
json
{
  "Dynamic_sendServoParam":false,
  "PositionalComparison":
  {
    "inertiaMax":9999.0,
    "inertiaMin":8.0,
    "max":8.0,
    "min":9999.0
  }
}

드래그모드 ​

  • 위치루프 비례 게인1최대값을；double유형，범위(0,100000]
  • "max"및"min"매개변수에서구현일 때쓰기反，뒤续가져오기줄수정
  • 설명
  • 호스트 컴퓨터설정드래그모드매개변수 명령어： 0x4074
  • "mode":2
  • 드래그방식；int유형，범위[0,3]
  • 0의미없음，1의미3D마우스，2의미토크，3의미위치
  • "port":0
  • 이외部触전송信번호포트；int유형
  • 범위이(가)현재绑설정IO포트수
  • "value":0
json
{
  "mode":2,
  "port":0,
  "value":0
}
  • 이외部触전송信번호매개변수；int유형，범위[0,1]
  • 호스트 컴퓨터조회드래그모드매개변수
json
{}

명령어： 0x4075

  • 컨트롤러回복원호스트 컴퓨터드래그모드매개변수 명령어： 0x4076
  • "mode":2
  • 드래그방식；int유형，범위[0,3]
  • 0의미없음，1의미3D마우스，2의미토크，3의미위치
  • "port":0
  • 이외部触전송信번호포트；int유형
  • 범위이(가)현재绑설정IO포트수
  • "value":0
json
{
  "mode":2,
  "port":0,
  "value":0
}
  • 이외部触전송信번호매개변수；int유형，범위[0,1]
  • 호스트 컴퓨터설정토크매개변수 명령어： 0x4085
  • "DecareLimit":2.50
  • 데카르트空사이线속도限생성；double유형，범위[0,∞)m/s
  • "JointVelLimit":1.0
  • 관절空사이속도限생성；double유형，범위[0,∞)°/s
  • "dragCoefficient":[5.0,5.0,5.0,5.0,5.0,5.0]
  • 초과阻力系수；double유형，범위[1,100]
  • "drag_mode":0
  • 드래그모드；int유형，범위[0,2]
  • 0의미自由드래그，1의미위치드래그，2의미자세드래그
  • "frictionOffset":[0.0,0.0,0.0,0.0,0.0,0.0]
  • 관절摩擦力보정矫正系수；double유형，범위[0,0.99]
  • "targetTorqCoefficient":[1.0,1.0,1.0,1.0,1.0,1.0]
  • 관절대상토크矫正系수；double유형，범위[0,1]
  • "waitCycle":5.0
json
{
  "DecareLimit":2.50,
  "JointVelLimit":1.0,
  "dragCoefficient":[5.0,5.0,5.0,5.0,5.0,5.0],
  "drag_mode":0,
  "frictionOffset":[0.0,0.0,0.0,0.0,0.0,0.0],
  "targetTorqCoefficient":[1.0,1.0,1.0,1.0,1.0,1.0],
  "waitCycle":5.0
}
  • 전송에게서보토크매개변수대기주기；double유형，범위[1,10]
  • 호스트 컴퓨터조회토크매개변수
json
{}

명령어： 0x4086

  • 컨트롤러回복원호스트 컴퓨터토크매개변수 명령어： 0x4087
  • "DecareLimit":2.50
  • 데카르트空사이线속도限생성；double유형，범위[0,∞)m/s
  • "JointVelLimit":1.0
  • 관절空사이속도限생성；double유형，범위[0,∞)°/s
  • "dragCoefficient":[5.0,5.0,5.0,5.0,5.0,5.0]
  • 초과阻力系수；double유형，범위[1,100]
  • "drag_mode":0
  • 드래그모드；int유형，범위[0,2]
  • 0의미自由드래그，1의미위치드래그，2의미자세드래그
  • "frictionOffset":[0.0,0.0,0.0,0.0,0.0,0.0]
  • 관절摩擦力보정矫正系수；double유형，범위[0,0.99]
  • "targetTorqCoefficient":[1.0,1.0,1.0,1.0,1.0,1.0]
  • 관절대상토크矫正系수；double유형，범위[0,1]
  • "waitCycle":5.0
json
{
  "DecareLimit":2.50,
  "JointVelLimit":1.0,
  "dragCoefficient":[5.0,5.0,5.0,5.0,5.0,5.0],
  "drag_mode":0,
  "frictionOffset":[0.0,0.0,0.0,0.0,0.0,0.0],
  "targetTorqCoefficient":[1.0,1.0,1.0,1.0,1.0,1.0],
  "waitCycle":5.0
}

力学기능 ​

  • 전송에게서보토크매개변수대기주기；double유형，범위[1,10]
  • 설명
  • 설정충돌 감지열기닫기필요先가져오기줄동역학辨인식
  • 호스트 컴퓨터설정충돌 감지열기닫기 명령어： 0x407D
  • "switch":true
json
{
  "switch":true
}
  • 충돌 감지열기닫기；bool유형
  • 호스트 컴퓨터조회충돌 감지열기닫기
json
{}

명령어： 0x407E

  • 컨트롤러回복원호스트 컴퓨터충돌 감지열기닫기 명령어： 0x407F
  • "is_identification":false
  • 로봇여부완료동역학辨인식；bool유형
  • true의미완료동역학辨인식，1의미미가져오기줄동역학辨인식
  • "restrart_switch":false
  • 로봇碰撞뒤재시작열기닫기；bool유형
  • "switch":true
json
{
  "is_identification":false,
  "restrart_switch":false,
  "switch":false
}
  • 충돌 감지열기닫기；bool유형
  • 호스트 컴퓨터설정충돌 감지매개변수 명령어： 0x4080
  • "Co_De_para":[50.0,50.0,50.0,50.0,50.0,50.0]
  • 충돌 감지阈값을(조그)；double유형，범위[1,10000]‰
  • "Colli_Detec_jog":[50.0,50.0,50.0,50.0,50.0,50.0]
  • 충돌 감지阈값을(조그)；double유형，범위[1,10000]‰
  • "error_enable_time":1.0
  • 오류差允许일 때사이；double유형，범위[0,99]ms
  • "pos_delay_time":1.0
json
{
  "Co_De_para":[50.0,50.0,50.0,50.0,50.0,50.0],
  "Colli_Detec_jog":[50.0,50.0,50.0,50.0,50.0,50.0],
  "error_enable_time":1.0,
  "pos_delay_time":1.0
}
  • 명령어위치응답일 때사이；double유형，범위(0,99]ms
  • 호스트 컴퓨터조회충돌 감지매개변수
json
{}

명령어： 0x4081

  • 컨트롤러回복원호스트 컴퓨터충돌 감지매개변수 명령어： 0x4082
  • "Co_De_para":[50.0,50.0,50.0,50.0,50.0,50.0]
  • 충돌 감지阈값을열테이블(조그)；double유형，범위[1,10000]‰
  • "Colli_Detec_jog":[50.0,50.0,50.0,50.0,50.0,50.0]
  • 충돌 감지阈값을열테이블(조그)；double유형，범위[1,10000]‰
  • "error_enable_time":1.0
  • 오류差允许일 때사이；double유형，범위[0,99]ms
  • "pos_delay_time":1.0
json
{
  "Co_De_para":[50.0,50.0,50.0,50.0,50.0,50.0],
  "Colli_Detec_jog":[50.0,50.0,50.0,50.0,50.0,50.0],
  "error_enable_time":1.0,
  "pos_delay_time":1.0
}
  • 명령어위치응답일 때사이；double유형，범위(0,99]ms
  • 호스트 컴퓨터설정로봇토크이전馈 명령어： 0x4010
  • "torqFeedback":false
json
{
  "torqFeedback":false
}
  • 토크이전馈열기닫기；bool유형
  • 호스트 컴퓨터조회로봇토크이전馈
json
{}

명령어： 0x4011

  • 컨트롤러回복원호스트 컴퓨터로봇토크이전馈 명령어： 0x4012
json
{
  "torqFeedback":false
}

궤적管理 ​

  • "torqFeedback":false
  • 토크이전馈열기닫기；bool유형
  • 설명
  • 궤적저장결과사용하여0x4070반환
  • 호스트 컴퓨터조회드래그궤적여부记기록
json
{}

명령어： 0x408B

  • 컨트롤러回복원호스트 컴퓨터드래그궤적 기록결과 명령어： 0x4070
  • "record":false
json
{
  "record":false
}
  • 궤적여부记기록；bool유형
  • 호스트 컴퓨터요청궤적 재생 명령어： 0x4071
  • "trajName":"AAA"
  • 필요回放궤적이름；string유형
  • "vel":100
json
{
  "trajName":"AAA",
  "vel":100
}
  • 궤적 재생실행속도；int유형，범위[1,100]
  • 호스트 컴퓨터요청저장드래그궤적 명령어： 0x4072
  • "TrajName":"AAA"
json
{
  "TrajName":"AAA"
}
  • 필요저장궤적이름；string유형
  • 若이(가)空则저장실패
  • 호스트 컴퓨터요청삭제드래그궤적 명령어： 0x4073
  • "TrajName":"AAA"
json
{
  "TrajName":"AAA"
}
  • 필요삭제궤적이름；string유형
  • 호스트 컴퓨터조회드래그궤적열테이블
json
{}

명령어： 0x4083

  • 컨트롤러回복원호스트 컴퓨터드래그궤적열테이블 명령어： 0x4084
  • "TrajName":["AAA"]
json
{
  "TrajName":["AAA"]
}
  • 완료저장궤적열테이블；string유형
  • 길이이(가)현재완료저장궤적수량，若없음궤적，则해당노드존재하지 않음
  • 호스트 컴퓨터설정궤적 기록매개변수 명령어： 0x4088
  • "MaxSamplingNum":300.0
  • 최대采样포인트수；double유형，범위(200,1200)
  • "SamplingInterval":0.030
  • 采样사이隔；double유형，범위[0.03,1]
  • "Start":true
json
{
  "MaxSamplingNum":300.0,
  "SamplingInterval":0.030,
  "Start":true
}
  • 시작/정지记기록；bool유형
  • true의미시작记기록，false의미정지记기록
  • false일 때"MaxSamplingNum"와/과"SamplingInterval"존재하지 않음
  • 호스트 컴퓨터조회궤적 기록매개변수
json
{}

명령어： 0x4089

  • 컨트롤러回복원호스트 컴퓨터궤적 기록매개변수
  • 0x408A
  • "MaxSamplingNum":300.0
  • 최대采样포인트수；double유형，범위(200,1200)
  • "SamplingInterval":0.030
  • 采样사이隔；double유형，범위[0.03,1]
  • "Start":false
json
{
  "MaxSamplingNum":300.0,
  "SamplingInterval":0.030,
  "Start":false
}
  • 시작/정지记기록；bool유형
  • true의미시작记기록，false의미정지记기록
  • 호스트 컴퓨터조회드래그궤적파일열테이블
json
{}

명령어： 0x408C

  • 컨트롤러回복원호스트 컴퓨터드래그궤적파일열테이블 명령어： 0x408D
  • "absolutepath":"dragPos/"
  • 컨트롤러에 복사합니다드래그궤적파일저장주소；string유형
  • "trajectory_filelist":["AAA","JJ","drag_traj_details.json"]
json
{
  "absolutepath":"dragPos/",
  "trajectory_filelist":["AAA","JJ","drag_traj_details.json"]
}
  • 드래그궤적파일열테이블；string유형
  • "drag_traj_details.json"이(가)궤적 기록정보파일