JSON protocol:

IO Configuration Command Set

Controller IO

The Gen 4 quantity and classification are as follows:

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

Set the digital IO mode 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.
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. 3-Customize Level Speed Mode allows you to set the low-level speed and high-level speed independently. When enabled, the IO low-level speed is set to the value of the speed parameter, and the IO high-level speed is set to the value of the heightSpeed parameter.

• 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 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. 3-Customize Level Speed Mode allows you to set the low-level speed and high-level speed independently. When enabled, the IO low-level speed is set to the value of the speed parameter, and the IO high-level speed is set to the value of the heightSpeed parameter.

• Code demo

Input

Get the digital IO output state

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

Output

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

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.

• Code demo

Input

Get all IO input states.

{"command":"get_IO_input"}

Output

{
    "command":"get_IO_input",
    "DI": [
        1,
        1,
        1
    ]
}

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.

• Code demo

Input Get all IO output states.

{"command":"get_IO_output"}

Output

{
    "command":"get_IO_output",
    "DO": [
        1,
        1,
        1,
        1
    ]
}

Set the power output set_voltage

• Input parameter

Parameter	Type	Description
set_voltage	string	Set the power output.
voltage_type	int	Power output type, range: 0-3.
start_enable	bool	true means that the configured voltage will be output at startup, false means that the configured voltage at startup will be disabled.

• Code demo

Input

Set the power output.

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

Output

Setting succeeded:

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

Setting failed:

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

Get the power output 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, 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/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

{
    "command":"get_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, 0: 0 V, 2: 12 V, 3: 24 V.

• Code demo

Input Set the power output

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

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
get_tool_voltage	int	Power output type, 0: 0 V, 2: 12 V, 3: 24 V.

• Code demo

Input Get the power output type

{"command":"get_tool_voltage"}

Output

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