JSON protocol:

IO Configuration Command Set

Controller IO

The robotic arm is equipped with IO ports, categorized and quantified for Gen 2 as follows:

Type	Description
Digital output: DO	4 channels, 0 V-12 V available
Digital input: DI	3 channels, 0 V-12 V available
Analog output: AO	4 channels, output voltage 0 V-10 V
Analog input: AI	4 channels, input voltage 0 V-10 V

The Gen 3 quantity and classification are as follows:

Digital IO: DO/DI multiplexing	4 channels, 0 V-24 V available

Set the digital IO mode (Gen 3 controller)set_IO_mode

• Input parameter

Parameter	Type	Description
set_IO_mode	string	Set the digital IO mode.
IO_Num	int	IO port number, range: 1−4.
IO_mode	int	Mode select. 0: general-purpose input mode. 1: general-purpose output mode. 2: input start function multiplexing mode. 3: input pause function multiplexing mode. 4: input resumption function multiplexing mode. 5: input emergency stop function multiplexing mode. 6: input to current loop drag multiplexing mode. 7: input to position-only drag mode (available for the 6-DoF force version). 8: input to orientation-only drag mode (available for the 6-DoF force version). 9: input to position-orientation drag multiplexing mode (available for the 6-DoF force version). 10: input maximum external axis soft limit multiplexing mode (available for external axis mode of expansion joints). 11: input minimum external axis soft limit multiplexing mode (available for external axis mode of expansion joints). 12: input initial pose function multiplexing mode (triggered by low level). 13: output collision function multiplexing mode (normal output: low level, error output: high level). 14: Real-Time Speed Adjustment Function Multiplexing Mode (Triggered by Low Level, when IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed is set to the initial value).
realtime_speed	string	Optional parameter, set this parameter when IO_mode is set to 14 (Real-Time Speed Adjustment Function Multiplexing Mode).
speed	int	Speed setting, value range 0-100.
mode	int	Mode selection. 1-Single Trigger Mode, in single trigger mode, when IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed is set to the initial value; 2-Continuous Trigger Mode, in continuous trigger mode, when IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed maintains the current value.

• Code demo

Input

Set the digital IO mode.

{"command":"set_IO_mode","IO_Num":1,"IO_mode":14,"realtime_speed":{"speed":50,"mode":1}}

Output

Setting succeeded:

{
    "command": "set_IO_mode",
    "set_state": true
}

Setting failed:

{
    "command": "set_IO_mode",
    "set_state": false
}

Set the digital IO output stateset_DO_state

• Input parameter

Parameter	Type	Description
set_DO_state	string	Set the digital IO output state.
IO_Num	int	IO port number, range: 1−4.
state	int	IO state, 1: high output, 0: low output.

• Code demo

Input

{"command":"set_DO_state","IO_Num":1,"state":1}

Output

Setting succeeded:

{
    "command": "set_DO_state",
    "set_state": true
}

Setting failed:

{
    "command": "set_DO_state",
    "set_state": false
}

Get the digital IO state (Gen 3 controller)get_IO_state

• Input parameter

Parameter	Type	Description
get_IO_state	string	Get the digital IO output state.
IO_Num	int	IO port number, range: 1−4.

• Output parameter

Parameter	Type	Description
IO_Num	int	IO port number, range: 1−4.
IO_mode	int	Output setting mode. 0 - General Purpose Input Mode; 1 - General Purpose Output Mode; 2 - Input Start Function Multiplexing Mode; 3 - Input Pause Function Multiplexing Mode; 4 - Input Resume Function Multiplexing Mode; 5 - Input Emergency Stop Function Multiplexing Mode; 6 - Input Current Loop Drag Multiplexing Mode; 7 - Input Force-Only Position Drag Mode; 8 - Input Force-Only Posture Drag Mode; 9 - Input Force-Position Hybrid Drag Multiplexing Mode; 10 - Input External Axis Maximum Soft Limit Multiplexing Mode; 11 - Input External Axis Minimum Soft Limit Multiplexing Mode; 12 - Input Initial Pose Function Multiplexing Mode; 13 - Output Collision Function Multiplexing Mode; 14 - Real-Time Speed Adjustment Function Multiplexing Mode.
IO_State	int	IO status, 1 for high output, 0 for low output.
realtime_speed	object	Optional parameter, returned when IO_mode is set to 14 (Real-Time Speed Adjustment Function Multiplexing Mode).
speed	int	Output setting speed, value range 0-100.
mode	int	Output setting mode. 1 - Single Trigger Mode, in single trigger mode, when the IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed is set to the initial value. 2 - Continuous Trigger Mode, in continuous trigger mode, when the IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed maintains the current value.

• Code demo

Input

Get the digital IO output state

 {"command":"get_IO_state","IO_Num":1}

Output

{
    "state": "IO_state",
    "IO_Num": 1,
    "IO_Mode": 14,
    "IO_state": 1,
    "realtime_speed":
    {
        "speed":50,
        "mode":1
    }
}

Get the digital IO output state (Gen 2 controller)get_DO_state

• Input parameter

Parameter	Type	Description
get_DO_state	string	Get the digital IO output state.
IO_Num	int	IO port number, range: 1−4.

• Output parameter

Parameter	Type	Description
state	int	IO state, 1: high output, 0: low output.

• Code demo

Input

Get the digital IO output state.

{"command":"get_DO_state","IO_Num":1}

Output

{
    "state": "DO_state",
    "IO_Num": 1,
    "IO_state": 1
}

Get the digital IO input state (Gen 2 controller)get_DI_state

• Input parameter

Parameter	Type	Description
get_DI_state	string	Get the digital IO input state.
IO_Num	int	IO port number, range: 1−4.

• Output parameter

Parameter	Type	Description
state	int	IO state, 1: high output, 0: low output.

• Code demo

Input

Get the digital IO output state

{"command":"get_DI_state","IO_Num":1}

Output

{
    "state": "DI_state",
    "IO_Num": 1,
    "IO_state": 1
}

Set the analog IO output state (Gen 2 controller)set_AO_state

• Input parameter

Parameter	Type	Description
set_AO_state	string	Set the analog IO output state.
IO_Num	int	IO port number, range: 1−4.
voltage	int	IO output voltage, resolution: 0.001 V, range: 0-10,000, output voltage: 0 V-10 V.

• Code demo

Input

Set the analog IO output state.

{"command":"set_AO_state","IO_Num":1,"voltage":1000}

Output

Setting succeeded:

{
    "command": "set_AO_state",
    "state": true
}

Setting failed:

{
    "command": "set_AO_state",
    "state": false
}

Get the analog IO output state (Gen 2 controller)get_AO_state

• Input parameter

Parameter	Type	Description
get_AO_state	string	Get the analog IO output state.
IO_Num	int	IO port number, range: 1−4.

• Output parameter

Parameter	Type	Description
IO_Num	int	IO port number, range: 1−4.
voltage	int	IO output voltage, resolution: 0.001 V, range: 0-10,000, output voltage: 0 V-10 V.

• Code demo

Input

Get the analog IO output state.

{"command":"get_AO_state","IO_Num":1}

Output

{
    "state": "AO_state",
    "IO_Num": 1,
    "voltage": 1000
}

Get the analog IO input state (Gen 2 controller)get_AI_state

• Input parameter

Parameter	Type	Description
get_AI_state	string	Get the analog IO input state.
IO_Num	int	IO port number, range: 1−4.

• Output parameter

Parameter	Type	Description
IO_Num	int	IO port number, range: 1−4.
voltage	int	IO output voltage, resolution: 0.001 V, range: 0-10,000, output voltage: 0 V-10 V.

• Code demo

Input

Get the analog IO output state.

{"command":"get_AI_state","IO_Num":1}

Output

{
    "state": "AI_state",
    "IO_Num": 1,
    "voltage": 1000
}

Get all IO input statesget_IO_input

• Input parameter

Parameter	Type	Description
get_IO_input	string	Get all IO input states.

• Output parameter

Parameter	Type	Description
DI	int	Digital input state, 1: high, 0: low.
AI	int	Analog input voltage, accuracy: 0.001 V. For example, 1,000 represents 1 V.

• Code demo

Input

Get all IO input states.

{"command":"get_IO_input"}

Output

{
    "state": "IO_input_state",
    "DI": [
        1,
        1,
        1
    ],
    "AI": [
        1000,
        2000,
        3000,
        4000
    ]
}

Get all IO output statesget_IO_output

• Input parameter

Parameter	Type	Description
get_IO_output	string	Get all IO output states.

• Output parameter

Parameter	Type	Description
DO	int	Digital output state, 1: high, 0: low.
AO	int	Analog output voltage, accuracy: 0.001 V. For example, 1,000 represents 1 V.

• Code demo

Input Get all IO output states.

{"command":"get_IO_output"}

Output

{
    "state": "IO_output_state",
    "DO": [
        1,
        1,
        1,
        1
    ],
    "AO": [
        1000,
        2000,
        3000,
        3000
    ]
}

Set the power output (Gen 3 controller)set_voltage

• Input parameter

Parameter	Type	Description
set_voltage	string	Set the power output.
voltage_type	int	Power output type, range: 0-3.

• Code demo

Input

Set the power output.

 {"command":"set_voltage","voltage_type":2}

Output

Setting succeeded:

{
    "command": "set_voltage",
    "state": true
}

Setting failed:

{
    "command": "set_voltage",
    "state": false
}

Get the power output (Gen 3 controller)get_voltage

• Input parameter

Parameter	Type	Description
get_voltage	string	Get the power output.

• Output parameter

Parameter	Type	Description
voltage_type	int	Power output type, range: 0-3. 0: 0 V, 2: 12 V, 3: 24 V.

• Code demo

Input Get the controller power output type.

{"command":"get_voltage"}

Output

{
    "command": "voltage_state",
    "voltage_type": 2
}

End Effector IO

The end effector is equipped with IO ports, categorized and quantified as follows:

Type	Description
Power output	One channel, 0 V/5 V/12 V/24 V available.
Digital IO	Two channels, input/output available.
Communication port	One channel, RS485 available.

Set the tool-end digital IO output stateset_tool_DO_state

• Input parameter

Parameter	Type	Description
set_tool_DO_state	string	Set the digital IO output state.
IO_Num	int	IO port number, range: 1−2.
state	int	IO state, 1: high output, 0: low output.

• Code demo

Input Set the tool-end digital IO output state.

{"command":"set_tool_DO_state","IO_Num":1,"state":1}

Output Setting succeeded:

{
    "command": "set_tool_DO_state",
    "set_state": true
}

Setting failed:

{
    "command": "set_tool_DO_state",
    "set_state": false
}

Set the tool-end digital IO modeset_tool_IO_mode

• Input parameter

Parameter	Type	Description
set_tool_IO_mode	string	Set the digital IO mode.
IO_Num	int	IO port number, range: 1−2.
state	int	IO state, 0: input mode, 1: output mode.

• Code demo

Input Set the digital IO mode

{"command":"set_tool_IO_mode","IO_Num":1,"state":0}

Output Setting succeeded:

{
    "command": "set_tool_IO_mode",
    "set_state": true
}

Setting failed:

{
    "command": "set_tool_IO_mode",
    "set_state": false
}

Get the tool-end digital IO stateget_tool_IO_state

• Input parameter

Parameter	Type	Description
get_tool_IO_state	string	Get the digital IO state.

• Output parameter

Parameter	Type	Description
IO_Mode	int	0: input mode, 1: output mode.
IO_State	int	IO state, 1: high output, 0: low output.

• Code demo

Input Get the digital IO state.

{"command":"get_tool_IO_state"}

Output

{
    "state": "tool_IO_state",
    "IO_Mode": [
        0,
        1
    ],
    "IO_State": [
        0,
        1
    ]
}

Set the tool-end power outputset_tool_voltage

• Input parameter

Parameter	Type	Description
set_tool_voltage	string	Set the power output.
voltage_type	int	Power output type, range: 0-3. 0: 0 V, 2: 12 V, 3: 24 V.

• Code demo

Input Set the power output

{"command":"set_tool_voltage","voltage_type":1}

Output Setting succeeded

{
    "command": "set_tool_voltage",
    "state": true
}

Setting failed

{
    "command": "set_tool_voltage",
    "state": false
}

Get the tool-end power outputget_tool_voltage

• Input parameter

Parameter	Type	Description
get_tool_voltage	string	Get the power output.

• Output parameter

Parameter	Type	Description
voltage_type	int	Power output type, range: 0-3. 0: 0 V, 2: 12 V, 3: 24 V.

• Code demo

Input Get the power output type

{"command":"get_tool_voltage"}

Output

{
    "state": "tool_voltage_state",
    "voltage_type": 1
}