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).

{
    "command":"get_arm_power_state",
    "power_state": 1
}

Emergency Stop

Set Robotic Arm Emergency Stop State set_arm_emergency_stop

• Input Parameters

Parameter	Type	Description
set_arm_emergency_stop	string	Set the robotic arm model.
emergency_stop	bool	true: Enter emergency stop state, false: Disable emergency stop state.

• Output Parameters

Parameter	Type	Description
set_state	bool	true: Success, false: Failure

• Code demo

Input

Set the robotic arm to enter emergency stop state.

{ "command": "set_arm_emergency_stop","emergency_stop":true}

Output

Success:

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

Failure:

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

Version information

Get the software version 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
Product_version	string	Robotic arm model.
algorithm_info	string	Algorithm library information. Here, version represents the version number.
communication_info	string	Communication layer software information. Here, build_time represents the compilation time, and version represents the version number.
ctrl_info	string	Control layer software information. Here, build_time represents the compilation time, and version represents the version number.
program_info	string	Program layer software information. Here, build_time represents the compilation time, and version represents the version number.
robot_controller_version	string	Robotic arm controller version information.

• Code demo

Input

Get the software information of robotic arm.

{"command":"get_arm_software_info"}

Output

{
    "Product_version":"ECO65-B",
    "algorithm_info":{
        "version":"1.4.11"
    },
    "command":"arm_software_info",
    "communication_info":{
        "build_time":"2024/11/5 21:00:00",
        "version":"1.0.1"
    },
    "ctrl_info":{
        "build_time":"2024/11/5 21:00:00",
        "version":"V1.0.3"
    },
    "program_info":{
        "build_time":"2025-04-09 10:46:48",
        "version":"V1.0.3"
    },
    "robot_controller_version":"4.0"
}

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:

The version numbers of the current joints are: Vd5.1.0, Vd5.1.0, Vd5.1.0, Vd5.1.0, Vd5.1.0, Ve5.1.0.

{
    "command":"get_joint_software_version",
    "version": [
        "Vd5.1.0",
        "Vd5.1.0",
        "Vd5.1.0",
        "Vd5.1.0",
        "Vd5.1.0",
        "Ve5.1.0"
    ]
}

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:

The version number of the current end - effector interface board is V1.9.3.

{
    "command":"get_tool_software_version",
    "version": "V1.9.3"
}

## Cumulative data

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",
    "motor_output_power1": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "motor_output_power2": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "motor_output_power3": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "motor_output_power4": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "motor_output_power5": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "motor_output_power6": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "odom": [0, 0, 0, 0, 0, 0, 0]
}

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

{
    "command": "get_joint_odom",
    "motor_output_power1": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "motor_output_power2": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "motor_output_power3": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "motor_output_power4": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "motor_output_power5": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "motor_output_power6": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "motor_output_power7": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "odom": [259, 227, 0, 421, 6, 675, 539]
}

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
}