JSON protocol:

System Command Set

Power control

Control power-on and power-off set_arm_power

• Input parameter

Parameter	Type	Description
set_arm_power	string	Control the power-on and power-off of the robotic arm.
arm_power	int	Power state: 1: power-on; 0: power-off.

• Code demo

Input

Description: Control the power-on of the robotic arm.

{"command":"set_arm_power","arm_power":1}

Output

{
    "command": "set_arm_power",
    "arm_power": true
}

Get the power state get_arm_power_state

• Input parameter

Parameter	Type	Description
get_arm_power_state	string	Get the power state of robotic arm.

• Code demo

Input

Description: Get the power state of robotic arm.

{"command":"get_arm_power_state"}

Output

Power state (1: power-on; 0: power-off).

{
    "state": "arm_power_state",
    "power_state": 1
}

Version information

Get the software version (Gen 2 controller) get_arm_software_version

• Input parameter

Parameter	Type	Description
get_arm_software_version	string	Get the software version of robotic arm.

• Code demo

Input

Description: Get the software version of robotic arm.

{"command":"get_arm_software_version"}

Output

7013129: converted to hexadecimal data of uint32_t type, 0x6B0309.
6B: represents the model RM65-B; 6D: represents the model RM65-ZF; 6F: represents the model RM65-SF.
0309: represents the software version of V3.0.9.
Product_version: robotic arm model, supported only by the Gen 3 robotic arms.

{
    "Real-time_Kernal2": 515,
    "state": "arm_software_version",
    "Ctrl_version": 7014147,
    "Plan_version": 7013891,
    "ctrlM4_build_info": "202212282001",
    "Real-time_Kernal1": 515,
    "ctrlM7_build_info": "202212282001",
    "Plan_build_info": "202212282001",
    "Product_version": "RM65-BI"
}

Get the software version (Gen 3 controller) get_arm_software_info

• Input parameter

Parameter	Type	Description
get_arm_software_info	string	Get the software information of robotic arm.

• Output parameter

Parameter	Type	Description
plan_info	string	Software information at plan level.
version	float	Represents the version number.
build_time	string	Represents the build time.
plan_info	string	Software information at ctrl level.
version	string	Represents the version number.
algorithm_info	string	Algorithm library information.
Product_version	string	Model of robotic arm.
dynamic_info	string	Version of dynamic model, model_version.

• Code demo

Input

Get the software information of robotic arm.

{"command":"get_arm_software_info"}

Output

{
    "Product_version": "RM65-BI",
    "algorithm_info": {
        "version": "1.2.3"
    },
    "command": "arm_software_info",
    "ctrl_info": {
        "build_time": "2023/12/13 20:58:10",
        "version": "V1.4.6"
    },
    "dynamic_info": {
        "model_version": "1"
    },
    "plan_info": {
        "build_time": "2023/12/13 20:58:24",
        "version": "V1.4.6"
    }
}

Get the joint software version get_joint_software_version

• Input parameter

Parameter	Type	Description
get_joint_software_version	string	Get the joint software version.

• Code demo

Input

{"command":"get_joint_software_version"}

Output 531 is of uint16 type, which is 0x0213 if converted to hexadecimal data, representing that the software version of the current joint is 2.13.

{
    "state": "joint_software_version",
    "version": [
        531,
        531,
        531,
        531,
        531,
        531
    ]
}

Get the software version of end interface board get_tool_software_version

• Input parameter

Parameter	Type	Description
get_joint_software_version	string	Get the software version of end interface board.

• Code demo

Input

{"command":"get_tool_software_version"}

Output 531 is of uint16 type, which is 0x0213 if converted to hexadecimal data, representing that the software version of the current end interface board is 2.13.

{
    "state": "tool_software_version",
    "version": 531
}

Cumulative data

Get the cumulative runtime of controller get_system_runtime

Get the cumulative runtime of the controller since it left the factory.

• Input parameter

Parameter	Type	Description
get_system_runtime	string	Get the cumulative runtime of the controller.

• Code demo

Input

Description: Get the system runtime.

{"command":"get_system_runtime"}

Output

If the system is normal, it will return the runtime.

{
    "command": "get_system_runtime",
    "day": 0,
    "hour": 0,
    "min": 0,
    "sec": 0
}

Clear the cumulative runtime of controller clear_system_runtime

Clear the cumulative runtime of the controller since it left the factory.

• Input parameter

Parameter	Type	Description
get_system_runtime	string	Clear the cumulative runtime of the controller.

• Code demo

Input

Description: Clear the system runtime.

{"command":"clear_system_runtime"}

Output Successfully cleared (true: succeeded, false: failed).

{
    "command": "clear_system_runtime",
    "clear_state": true
}

Get the cumulative rotation angle of the joint get_joint_odom

Get the cumulative rotation angle of the joint since it left the factory.

• Input parameter

Parameter	Type	Description
get_joint_odom	string	Get the cumulative rotation angle of each joint.

• Code demo

Input

Description: Get the cumulative rotation angle of joint.

{"command":"get_joint_odom"}

Output

If the command is correct, return the cumulative rotation angle of each 6-DoF joint.

{
    "command": "get_joint_odom",
    "odom": [
        1000,
        2000,
        3000,
        4000,
        5000,
        6000
    ]
}

If the command is correct, return the cumulative rotation angle of each 7-DoF joint.

{
    "command": "get_joint_odom",
    "odom": [
        1000,
        2000,
        3000,
        4000,
        5000,
        6000,
        7000
    ]
}

Clear the cumulative rotation angle of joint clear_joint_odom

Clear the cumulative rotation angle of each joint since it left the factory.

• Input parameter

Parameter	Type	Description
clear_joint_odom	string	Clear the cumulative rotation angle of joint.

• Code demo

Input

Description: Clear the cumulative rotation angle of joint.

{"command":"clear_joint_odom"}

Output Successfully cleared (true: succeeded, false: failed).

{
    "command": "clear_joint_odom",
    "clear_state": true
}

Parameter saving

Parameter saving (Gen 2) save_device_info_all

• Input parameter

Parameter	Type	Description
save_device_info_all	string	Save all parameters.

• Code demo

Input

Description: Save all parameters.

{"command":"save_device_info_all"}

Output

Setting succeeded (true: setting succeeded, false: setting failed).

{
    "command": "save_device_info_all",
    "model": true
}