Protocol Definition

This section provides a description of the protocol used to communicate with the Dobot CR-Series cobot through a remote workstation over a network.

Note

Your CR-Series cobot must be running on firmware v3.5.1.19 or greater.

Message Format

CR robots use ports 29999, 30003, 30004, 30005 and 30006.

  • Server port 29999 (hereinafter referred to as Dashboard Port) is responsible for receiving some simple commands by sending and receiving one by one. That is, after receiving the agreed message format from the client, the Dashboard Port will give feedback to the client.
  • Server port 30003 (hereinafter referred to as the Real-time Feedback Port) feeds back the robot information. It only receives the agreed message format from the client but does not give feedback. (Note: Port 30003 port is split into port 30003 and port 30004, which is expected to be implemented in controller version 3.5.2. Controller version 3.5.1 currently has only one 30003 port for real-time feedback or sending motion commands.)
  • Server port 30004 (hereinafter referred to as Real-time Feedback Port) feeds back robot information every 8ms. Port 30005 provides robot information every 200ms. Port 30006 is a configurable port to feed back robot information. By default, port 30006 provides feedback every 50ms.

Note

Commands are not case-sensitive. ENABLEROBOT(), enablerobot(), and eNabLErobOt() are treated the same and will all enable the robot.

Format When Sending Messages

Message name(Param_1,Param_2,Param_3,...Param_n)

The message format is shown as above. It consists of a message name with parameters in a bracket. Each parameter is separated by an English comma “,”. A complete message ends with a right parenthesis.

Both message commands and message responses are in ASCII format (string).

Format When Receiving Messages

"ErrorID,{value,...,value_n},Message name(Param_1,Param_2,Param_3,...Param_n);"

The return message format is shown above. An ErrorID of zero indicates that the command was received successfully. If the ErrorID is non-zero value, it indicates an error has occurred in the command. See Error Code Descriptions for a detailed description.

{value_1,value_2,value_3,...,value_n} represents the return value. If there is no return value, {} will be returned.

Message name (Param_1,Param_2,Param_3,...,Param_n) reflects the content delivered.

For example, the command:

MovL(-500,100,200,150,0,90)

returns:

"0,{},MovL(-500,100,200,150,0,90); //0"

This return value indicates that the command was received successfully. If there is no return value, {} will be returned.

The command:

Mov(-500,100,200,150,0,90)

returns:

"-10000,{},Mov(-500,100,200,150,0,90); //-10000"

This return value indicates a command error. If there is no return value, {} will be returned.

Dashboard Port Commands

The upper computer can directly send some simple commands to the robot through port 29999. Dashboard commands can be used to control the robot like enabling/disabling the robot, resetting the robot, and setting some I/O statuses.

EnableRobot

  • Function: EnableRobot()
  • Description: Enable the robot
  • Supported Port: 29999
  • Return: ErrorID,{},EnableRobot();
  • Optional parameters: Number of optional parameters: 0, 1, or 4. A command with zero parameters enables the robot without setting payload information. A command with one parameter provides the payload weight. A command with four parameters provides the payload weight, centerX, centerY, and centerZ respectively.
Parameter Type Description
load double

Payload weight (kg):

  • CR3/CR3L load range: 3kg
  • CR5/CR5D load range: 5kg
  • CR7 load range: 7kg
  • CR10 load range: 10kg
  • CR12 load range: 12kg
  • CR16 load range: 16kg
centerX double Payload offset distance in X direction: -500mm - 500mm
centerY double Payload offset distance in Y direction: -500mm - 500mm
centerZ double Payload offset distance in Z direction: -500mm - 500mm

Enable the robot without setting payload parameters.

EnableRobot()

Enable the robot with a payload weighing 3.5kg.

EnableRobot(3.5)

Enable the robot with a payload weighing 3.5kg and offsets of 0mm, 50mm, 100mm in the X, Y, and Z directions, respectively.

EnableRobot(3.5,0,50,100)

DisableRobot

  • Function: DisableRobot()
  • Description: Disable the robot
  • Supported Port: 29999
  • Return: ErrorID,{},DisableRobot();
  • Parameters: None

Disable the robot.

DisableRobot()

ClearError

  • Function: ClearError()
  • Description: Clear robot alarms. After clearing alarms, the user can check whether the robot is still in the alarm state using RobotMode. For alarms that cannot be cleared, restart the control cabinet. (Refer to GetErrorID)
  • Return: ErrorID,{},ClearError();
  • Supported Port: 29999
  • Parameters: None

Clear all possible robot alarms.

ClearError()

ResetRobot

  • Function: ResetRobot()
  • Description: Stop the robot’s current execution
  • Supported Port: 29999
  • Return: ErrorID,{},ClearError();
  • Parameters: None

Stop robot’s current execution.

ResetRobot()

SpeedFactor

  • Function: SpeedFactor(ratio)
  • Description: Set the global speed ratio
  • Supported Port: 29999
  • Return: ErrorID,{},SpeedFactor(ratio);
  • Parameters:
Parameter Type Description
ratio int speed ratio, range: 0 - 100 exclusive

Set the global speed ratio to 80%.

SpeedFactor(80)

User

  • Function: User(index)
  • Description: Select the specified user coordinate system
  • Supported Port: 29999
  • Return: ErrorID,{},User(index); //ErrorID: -1 indicates that the user coordinate index does not exist.
  • Parameters:
Parameter Type Description
index int Select the specified user coordinate system, range: 0 - 9

Select the first user coordinate system for use.

User(1)

Tool

  • Function: Tool(index)
  • Description: Select the specified tool coordinate system
  • Supported Port: 29999
  • Return: ErrorID,{},Tool(index); //ErrorID: -1 indicates that the tool coordinate index does not exist.
  • Parameters:
Parameter Type Description
index int Select the specified tool coordinate system, range: 0 - 9

Select the first tool coordinate system for use.

Tool(1)

RobotMode

  • Function: RobotMode()
  • Description: Get the current mode of robot
  • Supported Port: 29999
  • Return: ErrorID,{Value},RobotMode(); //Value is the robot mode value
  • Parameters: None

Get the current mode of the robot.

RobotMode()
# 4 // Robot is disabled
  • Return options:
Mode Description Note
1 ROBOT_MODE_INIT Initialization
2 ROBOT_MODE_BRAKE_OPEN Brake is released
3   Reserved
4 ROBOT_MODE_DISABLED Robot is disabled (brake is not released)
5 ROBOT_MODE_ENABLE Robot is enable (idle)
6 ROBOT_MODE_BACKDRIVE Robot is in dragging state
7 ROBOT_MODE_RUNNING Robot is running
8 ROBOT_MODE_RECORDING Robot is in dragging recording mode
9 ROBOT_MODE_ERROR Robot is in alarm state
10 ROBOT_MODE_PAUSE Robot is paused
11 ROBOT_MODE_JOG Robot is in jogging state

Note

In order to maintain compatibility with controller version 3.5.1, the return value of robot status is not modified, such as: idle, drag, running, alarm state. Brake releasing, trajectory recording, pause and jog are added.

PayLoad

  • Function: PayLoad(weight,inertia)
  • Description: Set the current payload
  • Supported Port: 29999
  • Return: ErrorID,{},PayLoad(weight,inertia);
  • Parameters:
Parameter Type Description
weight double load weight kg
inertia double load inertia kg*m^2

Set the current payload to 3kg and an inertia of 0.4 kg*m^2.

PayLoad(3,0.4)

Note

TCP commands LoadSet in Lua. Using LoadSet is the same as calling PayLoad. LoadSet should be used with the LoadSwitch command

DO

  • Function: DO(index,status)
  • Description: Set the status of a digital output port on the controller (queue command)
  • Supported Port: 29999
  • Return: ErrorID,{},DO(index,status);
  • Parameters:
Parameter Type Description
index int digital output index, range: 1 - 16 or 100 - 1000. The value ranges from 100 - 1000 with the support of the hardware of the extended I/O module
status bool

Status of the digital output port:

  • 1: Set status high
  • 0: Set status low

Set DO index 1 to high.

DO(1,1)

DOExecute

  • Function: DOExecute(index,status)
  • Description: Set the status of a digital output port on the controller (immediate execution)
  • Supported Port: 29999
  • Return: ErrorID,{},DOExecute(index,status);
  • Parameters:
Parameter Type Description
index int digital output index, range: 1 to 16 or 100 to 1000. The value ranges from 100 to 1000 with the support of the hardware of the extended I/O module
status bool Status of the digital output port. 1: High level; 0: Low level

Immediately set DO index 1 to high.

DOExecute(1,1)

ToolDO

  • Function: ToolDO(index,status)
  • Description: Set the status of a digital output port on the tool (queue command)
  • Supported Port: 29999
  • Return: ErrorID,{},ToolDO(index,status);
  • Parameters:
Parameter Type Description
index int digital output index, range: 1 to 16 or 100 to 1000. The value ranges from 100 to 1000 with the support of the hardware of the extended I/O module
status bool status of digital output port. 1: high level, 0: low level

Set ToolDO index 1 to high.

ToolDO(1,1)

ToolDOExecute

  • Function: ToolDOExecute(index,status)
  • Description: set the status of digital output port of the tool (immediate command)
  • Supported Port: 29999
  • Return: ErrorID,{},ToolDOExecute(index,status);
  • Parameters:
Parameter Type Description
index int digital output index, range: 1 or 2
0/1 bool status of the digital output port. 1: high level; 0: low level

Immediately set ToolDO index 1 to high.

ToolDOExecute(1,1)

AO

  • Function: AO(index,value)
  • Description: Set the voltage of an analog output port on the controller (queue command)
  • Supported Port: 29999
  • Return: ErrorID,{},AO(index,value);
  • Parameters:
Parameter Type Description
index int analog output index, range: 1 or 2
value double voltage of corresponding index in volts, range: 0 - 10

Set AO index 1 to 2V.

AO(1,2)

AOExecute

  • Function: AOExecute(index,value)
  • Description: Set the voltage of an analog output port on the controller (immediate execution)
  • Supported Port: 29999
  • Return: ErrorID,{},AOExecute(index,value);
  • Parameters:
Parameter Type Description
index int analog output index, range: 1 or 2
value double voltage of corresponding index, range: 0 - 10

Immediately set AO index 1 to 2V.

AOExecute(1,2)

AccJ

  • Function: AccJ(R)
  • Description: Set the joint acceleration rate. This command is valid only when the motion mode is MovJ, MovJIO, MovJR, or JointMovJ
  • Supported Port: 29999
  • Return: ErrorID,{},AccJ(R);
  • Parameters:
Parameter Type Description
R int joint acceleration rate, range: 1 - 100

Set acceleration rate of joint movement commands to 50%.

AccJ(50)

AccL

  • Function: AccL(R)
  • Description: Set the Cartesian acceleration rate. This command is valid only when the motion mode is MovL, MovLIO, MovLR, Jump, Arc, or Circle
  • Supported Port: 29999
  • Return: ErrorID,{},AccL(R);
  • Parameters:
Parameter Type Description
R int Cartesian acceleration rate, range: 1 - 100

Set acceleration rate of Cartesian movement commands to 50%.

AccL(50)

SpeedJ

  • Function: SpeedJ(R)
  • Description: Set the joint velocity rate. This command is valid only when the motion mode is MovJ, MovJIO, MovJR, or JointMovJ
  • Supported Port: 29999
  • Return: ErrorID,{},SpeedJ(R);
  • Parameters:
Parameter Type Description
R int joint velocity rate, range: 1 - 100

Set velocity rate of joint movement commands to 50%.

SpeedJ(50)

SpeedL

  • Function: SpeedL(R)
  • Description: Set the Cartesian velocity rate. This command is valid only when the motion mode is MovL, MovLIO, MovLR, Jump, Arc, or Circle
  • Supported Port: 29999
  • Return: ErrorID,{},SpeedL(R);
  • Parameters:
Parameter Type Description
R int Cartesian velocity rate, range: 1 - 100

Set velocity rate of Cartesian movement commands to 50%.

SpeedL(50)

Arch

  • Function: Arch(Index)
  • Description: Set the index of arc parameters (StartHeight, zLimit, EndHeight) for the Jump motion mode
  • Supported Port: 29999
  • Return: ErrorID,{},Arch(Index);
  • Parameters:
Parameter Type Description
Index int arc parameters index, range: 0 - 9 
Arch(1)

CP

  • Function: CP(R)
  • Description: Set continuous path (CP) rate. When the robot arm reaches the end point from the starting point through an intermediate point, it passes through the intermediate point in a right angle or in a curve. This command is invalid for Jump mode.
  • Supported Port: 29999
  • Return: ErrorID,{},CP(R);
  • Parameters:
Parameter Type Description
R int continuous path rate, range: 1 - 100

Set the continuous path rate to 50%.

CP(50)

SetArmOrientation

  • Function: SetArmOrientation(LorR,UorD,ForN,Config6)
  • Description: Set the orientation of the arm
  • Supported Port: 29999
  • Return: ErrorID,{},SetArmOrientation(LorR,UorD,ForN,Config6);
  • Parameters:
Parameter Type Description
LorR int

Arm direction: forward/backward (1/-1)

  • 1: Forward
  • -1: backward
UorD int

Arm direction: up the elbow/down the elbow (1/-1)

  • 1: elbow up
  • -1: elbow down
ForN int

Whether the wrist is reversed (1/-1)

  • 1: wrist is not reversed
  • -1: wrist is reversed
Config6 int

Sixth axis angle sign

  • -1,-2…

    • -1: Axis 6 Angle is [0, -90], Config6 is -1;
    • -2: Axis 6 Angle is [90, 180], and so on

  • 1,2…

    • 1: axis 6 Angle is [0, 90], Config6 is 1;
    • 2: axis 6 Angle is [9, 180], Config6 is 2, and so on

Set the arm orientation to forward, elbow up, wrist reversed, and J6 between degrees [0, 90].

SetArmOrientation(1,1,-1,1)

PowerOn

  • Function: PowerOn()
  • Description: Power on the robot
  • Supported Port: 29999
  • Return: ErrorID,{},PowerOn();
  • Parameters: None

Power the robot on.

PowerOn()

Note

Once the robot is powered on, you can enable the robot after about 10 seconds.

RunScript

  • Function: RunScript(projectName)
  • Description: Run the named script
  • Supported Port: 29999
  • Return: ErrorID,{},RunScript(projectName);
  • Parameters:
Parameter Type Description
projectName string script name

Run the script named “demo”.

RunScript(demo)

StopScript

  • Function: StopScript()
  • Description: Stop the running script
  • Supported Port: 29999
  • Return: ErrorID,{},StopScript();
  • Parameters: None

Stop the running script.

StopScript()

PauseScript

  • Function: PauseScript()
  • Description: Pause the running script
  • Supported Port: 29999
  • Return: ErrorID,{},PauseScript();
  • Parameters: None

Pause the running script.

PauseScript()

ContinueScript

  • Function: ContinueScript()
  • Description: Continue the paused script
  • Supported Port: 29999
  • Return: ErrorID,{},ContinueScript();
  • Parameters: None

Continue the paused script.

ContinueScript()

SetSafeSkin

  • Function: SetSafeSkin(status)
  • Description: Set the state of safe skin if available.
  • Supported Port: 29999
  • Return: ErrorID,{},SetSafeSkin(status));
  • Parameters:
Parameter Type Description
status int

safe skin status:

  • 0: Turn off safe skin
  • 1: Turn on safe skin

Turn on the safe skin.

SetSafeSkin(1)

GetTraceStartPose

  • Function: GetTraceStartPose(traceName)
  • Description: Get the first point of the named trajectory.
  • Supported Port: 29999
  • Return: ErrorID,{x,y,z,a,b,c},GetTraceStartPose(traceName); //{x,y,z,a,b,c} refers to the point coordinates
  • Parameters:
Parameter Type Description
traceName string name of the trajectory file (with the suffix)

Get the first point of the trajectory named “recv_string”.

GetTraceStartPose(recv_string)

Note

This command is supported in CR controller version 3.5.2 and above

GetPathStartPose

  • Function: GetPathStartPose(traceName)
  • Description: Get the first point in the named trajectory playback.
  • Supported Port: 29999
  • Return: ErrorID,{j1,j2,j3,j4,j5,j6},GetTraceStartPose(traceName); //{j1,j2,j3,j4,j5,j6} is the coordinates of joints
  • Parameters:
Parameter Type Description
traceName string name of the trajectory file (with the suffix)

Get the first point in the trajectory playback called “recv_string”.

GetPathStartPose(recv_string)

Note

This command is supported in CR controller version 3.5.2 and above.

PositiveSolution

  • Function: PositiveSolution(J1,J2,J3,J4,J5,J6,User,Tool)
  • Description: Get the positive solution. Calculate the spatial position of the end of the robot based on the given angle of each joint of the robot. The arm direction of the robot is required to be known by SetArmOrientation
  • Supported Port: 29999
  • Return: ErrorID,{x,y,z,a,b,c},PositiveSolution(J1,J2,J3,J4,J5,J6,User,Tool); //{x,y,z,a,b,c} refers to the returned spatial position
  • Parameters:
Parameter Type Description
J1 double Position of axis J1 in degrees
J2 double Position of axis J2 in degrees
J3 double Position of axis J3 in degrees
J4 double Position of axis J4 in degrees
J5 double Position of axis J5 in degrees
J6 double Position of axis J6 in degrees
User int Select the calibrated user coordinate system
Tool int Select the calibrated tool coordinate system

Do forward kinematics to find the pose of the end of the robot with joint positions [0,0,-90,0,90,0] using User coordinate system 1 and Tool coordinate system 1.

PositiveSolution(0,0,-90,0,90,0,1,1)
# 0,{473.000000,-141.000000,469.000000,-180.000000,-0.000000,-90.000000},PositiveSolution(0,0,-90,0,90,0,0,0);

InverseSolution

  • Function: InverseSolution(X,Y,Z,Rx,Ry,Rz,User,Tool,isJointNear,JointNear)
  • Description: Get the inverse solution. Calculate the angle values of each joint of the robot based on the position and attitude of the end of the robot
  • Supported Port: 29999
  • Return: ErrorID,{J1,J2,J3,J4,J5,J6},InverseSolution(X,Y,Z,Rx,Ry,Rz,User,Tool,isJointNear,JointNear); //{J1,J2,J3,J4,J5,J6} is the angle values of each joint. isJointNear,JointNear will be returned if there are values delivered
  • Parameters:
Parameter Type Description
X double X-axis position in mm
Y double Y-axis position in mm
Z double Z-axis position in mm
Rx double Position of the Rx axis, units: degrees
Ry double Position of the Ry axis, units: degrees
Rz double Position of the Rx axis, units: degrees
User int Select the calibrated user coordinate system
Tool int Select the calibrated tool coordinate system
  • Optional Parameters:
Parameter Type Description
isJointNear int Whether to choose the Angle solution. If the value is 1, JointNear data is valid. If the value is 0, JointNear data is invalid. The algorithm selects solutions according to the current Angle. The default value is 0.
JointNear string Select the Angle values of six joints

Get the Cartesian coordinate value without the selected joint angle to return the joint angle value of the robot.

InverseSolution(473.000000,-141.000000,469.000000,-180.000000,0.000,-90.000,0,0)
# 0,{0,0,-90,0,90,0},InverseSolution(473.000000,-141.000000,469.000000,-180.000000,0.000,-90.000,0,0);

Get the Cartesian coordinate value of the selected joint angle to return the joint angle value of the robot:

InverseSolution(473.000000,-141.000000,469.000000,-180.000000,0.000,-90.000,0,0,1,{0,0,-90,0,90,0})
# 0,{0,0,-90,0,90,0},InverseSolution(0,-247,1050,-90,0,180,0,0,1,{0,0,-90,0,90,0});

SetCollisionLevel

  • Function: SetCollisionLevel(level)
  • Description: Set the collision level.
  • Supported Port: 29999
  • Return: ErrorID,{},SetCollisionLevel(level);
  • Parameters:
Parameter Type Description
level int

collision level

  • 0: turn collision detection off
  • 1 - 5: level of sensitivity

Set collision sensitivity to 1.

SetCollisionLevel(1)

HandleTrajPoints

  • Function: HandleTrajPoints(traceName)
  • Description: Preprocessing of trajectory files.
  • Supported Port: 29999
  • Return: ErrorID,{},HandleTrajPoints(traceName);
  • Parameters:
Parameter Type Description
traceName string name of the trajectory file (with the suffix)

Deliver recv_string for preprocessing, and query the preprocessing result at a certain period.

HandleTrajPoints(recv_string)
HandleTrajPoints()

Note

As the trajectory preprocessing results vary according to the size of the file, and the processing time of algorithms will be different. If the user sends this command without parameters, it refers to querying the result of the current command. Return: -3 indicates that the file content is incorrect; -2 indicates that the file does not exist; -1 indicates that the preprocessing is not completed; 0 indicates that preprocessing is completed with no errors; and a value greater than 0 indicates that the point corresponding to the current result is fault.

Note

This command is supported in CR controller version 3.5.2 and above.

GetSixForceData

  • Function: GetSixForceData()
  • Description: Get six-axis force data
  • Supported Port: 29999
  • Return: ErrorID,{Fx,Fy,Fz,Mx,My,Mz},GetSixForceData(); //{Fx,Fy,Fz,Mx,My,Mz} represents the original value of six-axis force.
  • Parameters: None

Get the current six-axis force values.

GetSixForceData()
# Return: 0,{0.0,0.0,0.0,0.0,0.0,0.0},GetSixForceData();

Note

This may require a six-axis force sensor end tool.

GetAngle

  • Function: GetAngle()
  • Description: Get the current joint angles in degrees
  • Supported Port: 29999
  • Return: ErrorID,{J1,J2,J3,J4,J5,J6},GetAngle(); //{J1,J2,J3,J4,J5,J6} refers to the joint coordinate of the current pose
  • Parameters: None

Get the current joint angles in degrees.

GetAngle()
# 0,{0.0,0.0,90.0,0.0,-90.0,0.0},GetAngle();

GetPose

  • Function: GetPose(user,tool)
  • Description: Get the current pose of the robot in the Cartesian coordinate system
  • Supported Port: 29999
  • Return: ErrorID,{X,Y,Z,Rx,Ry,Rz},GetPose(); //{X,Y,Z,Rx,Ry,Rz} represents the coordinates of the current pose under the Cartesian coordinate system
  • Parameters:
Parameter Type Description
user int index of User coordinate system
tool int index of Tool coordinate system

Get the current pose of the robot in the default coordinate system.

GetPose()
# 0,{-473.0,-141.0,469.0,-180.0,0.0,90.0},GetPose();

Note

If you specify a User or Tool coordinate system, the returned pose will be used that coordinate system.

EmergencyStop

  • Function: EmergencyStop()
  • Description: Trigger an emergency stop
  • Supported Port: 29999
  • Return: ErrorID,{},EmergencyStop();
  • Parameters: None

Trigger an emergency stop.

EmergencyStop()

ModbusCreate

  • Function: ModbusCreate(ip,port,slave_id,isRTU)
  • Description: Create a Modbus master, establish connection with the slave.
  • Supported Port: 29999
  • Return: ErrorID,{index},ModbusCreate(ip,port,slave_id,isRTU);
  • Parameters:
Parameter Type Description
ip string IP address of slave station
port int slave station port
slave_id int ID of slave station
isRTU int

This parameter is optional. The value range is 0/1.

  • If the value is null or 0, establish modbusTCP communication.
  • If it is 1, establish modbusRTU communication.

ErrorID: 0 indicates that the Modbus master station is created successfully. -1 indicates that the Modbus master station failed to be created. For other values, refer to Error Code Descriptions.

The returned index indicated the master station index, which supports a maximum of 5 devices, ranging from 0 - 4.

Establish RTU communication master station (60000 terminal transparent port).

ModbusCreate(127.0.0.1,60000,1,1)

Note

This command is supported in CR controller version 3.5.2 and above.

ModbusClose

  • Function: ModbusClose(index)
  • Description: Disconnect from Modbus slave station
  • Supported Port: 29999
  • Return: ErrorID,{},ModbusClose(index);
  • Parameters:
Parameter Type Description
index int Internal index

Close the Modbus connection to station 0.

ModbusClose(0)

Note

This command is supported in CR controller version 3.5.2 and above.

GetInBits

  • Function: GetInBits(index,addr,count)
  • Description: Read discrete input data
  • Supported Port: 29999
  • Return: ErrorID,{value_1,value_2,...,value_n},GetInBits(index,addr,count); //table, it gets results {value_1,value_2...,value_n} by bit
  • Parameters:
Parameter Type Description
index int Internal index
addr int Depending on the slave station configuration
count int The value ranges from 1 to 16

From device 0 at addr 3000, read 5 bits.

GetInBits(0,3000,5)
# Normal return: 0,{1,0,1,1,0},GetInBits(0,3000,5);
# If error: -1,{},GetInBits(0,3000,5);

Note

This command is supported in CR controller version 3.5.2 and above.

GetInRegs

  • Function: GetInRegs(index,addr,count,valType)
  • Description: Read from the input register value
  • Supported Port: 29999
  • Return: ErrorID,{value_1,value_2,...,value_n},GetInRegs(index,addr,count,valType); // ErrorID 0 means normal, -1 means failure to be read; For table, it returns {value_1,value_2...,value_n} by variable type
  • Parameters:
Parameter Type Description
index int Internal index
addr int Depending on the slave station configuration
count int The value ranges from 1 - 4
valType string

Optional parameters:

  • U16: read 16-bit unsigned integer ( two bytes, occupy one register)
  • U32: read 32-bit unsigned integer (four bytes, occupy two registers)
  • F32: read 32-bit single-precision floating-point number (four bytes, occupy two registers)
  • F64: read 64-bit double-precision floating-point number (eight bytes, occupy four registers)

From device 0 at address 4000, read 3.

GetInRegs(0,4000,3)
# Normal: 0,{5,18,12},GetInRegs(0,4000,3);
# Error: -1,{},GetInRegs(0,4000,3);

Note

This command is supported in CR controller version 3.5.2 and above.

GetCoils

  • Function: GetCoils(index,addr,count)
  • Description: Read from a coil register
  • Supported Port: 29999
  • Return: ErrorID,{value_1,value_2,…,value_n},GetCoils(index,addr,count); // ErrorID 0 means normal, -1 means failure to be read; For table, it returns {value_1,value_2...,value_n} by variable type
  • Parameters:
Parameter Type Description
index int Internal index
addr int Depending on the slave station configuration
count int The value ranges from 1 to 16

From device 0 at address 1000, read 3.

GetCoils(0,1000,3)
# Normal: 0,{1,1,0},GetCoils(0,1000,3);
# Error: -1,{},GetCoils(0,1000,3);

Note

This command is supported in CR controller version 3.5.2 and above.

SetCoils

  • Function: SetCoils(index,addr,count,valTab)
  • Description: Write to the coil register.
  • Supported Port: 29999
  • Return: ErrorID,{},SetCoils(index,addr,count,valTab); // ErrorID 0 means normal, -1 means failure to be set
  • Parameters:
Parameter Type Description
index int Internal index
addr int Depending on the slave station configuration
count int The value ranges from 1 - 16
valTab string address of the coils

To device 0 at address 1000, write 3 {1,0,1}.

SetCoils(0,1000,3,{1,0,1})
# Normal: 0,{},SetCoils(0,1000,3,{1,0,1});
# Error: -1,{},SetCoils(0,1000,3,{1,0,1});

Note

This command is supported in CR controller version 3.5.2 and above.

GetHoldRegs

  • Function: GetHoldRegs(index,addr, count,valType)
  • Description: Read from a holding register value
  • Supported Port: 29999
  • Return: ErrorID,{value_1,value_2,…,value_n},GetHoldRegs(index,addr, count,valType); //ErrorID 0 means normal, -1 means failure to be read; For table, it returns {value_1,value_2...,value_n} by variable type
  • Parameters:
Parameter Type Description
index int Internal index, supporting at most five devices, range: 0 - 4
addr int address of the holding registers. Depending on the slave station configuration
count int number of the holding registers
valType string
  • U16: read 16-bit unsigned integer ( two bytes, occupy one register)
  • U32: read 32-bit unsigned integer (four bytes, occupy two registers)
  • F32: read 32-bit single-precision floating-point number (four bytes, occupy two registers)
  • F64: read 64-bit double-precision floating-point number (eight bytes, occupy four registers)

Read a 16-bit unsigned integer starting at address 3095

GetHoldRegs(0,3095,1)
# Normal: 0,{13},GetHoldRegs(0,3095,1);
# Error: -1,{},GetHoldRegs(0,3095,1);

Note

This command is supported in CR controller version 3.5.2 and above.

SetHoldRegs

  • Function: SetHoldRegs(index,addr, count,valTab,valType)
  • Description: Write to a holding register
  • Supported Port: 29999
  • Return: ErrorID,{},SetHoldRegs(index,addr, count,valTab,valType);// ErrorID 0 means normal, -1 means failure to be set
  • Parameters:
Parameter Type Description
index int Internal index, supporting at most five devices, range: 0 - 4
addr int address of the holding registers. Depending on the slave station configuration
count int number of the holding registers to read. The value ranges from 1 to 4.
valTab int number of the holding registers
valType string
  • U16: read 16-bit unsigned integer ( two bytes, occupy one register)
  • U32: read 32-bit unsigned integer (four bytes, occupy two registers)
  • F32: read 32-bit single-precision floating-point number (four bytes, occupy two registers)
  • F64: read 64-bit double-precision floating-point number (eight bytes, occupy four registers)

Starting at address 3095, write two 16-bit unsigned integer values 6000,300

SetHoldRegs(0,3095,2,{6000,300}, U16)
# Normal: 0,{},SetHoldRegs(0,3095,2,{6000,300}, U16);
# Error: -1,{},SetHoldRegs(0,3095,2,{6000,300}, U16);

Note

This command is supported in CR controller version 3.5.2 and above.

GetErrorID

  • Function: GetErrorID()
  • Description: Get robot error codes
  • Supported Port: 29999
  • Return: ErrorID,{[[id,…,id], [id], [id], [id], [id], [id], [id]]},GetErrorID();//[id,..., id] is the alarm information of the controller and algorithm, where the collision detection value is -2, the safe skin collision detection value is -3. The last six [id] represent the alarm information of six servos respectively.
  • Parameters: None

Get robot error codes.

GetErrorID()
# 0,{[[-2],[],[],[],[],[]]},GetErrorId();

Note

Note: For error code description, see Error Code Descriptions.

Note

This command is supported in CR controller version 3.5.2 and above.

DI

  • Function: DI(index)
  • Description: Get the status of a digital input port
  • Supported Port: 29999
  • Return: ErrorID,{value},DI(index);//value: the current index status value. The value range is 0/1.
  • Parameters:
Parameter Type Description
index int digital input index, range: 1 - 32 or 100 - 1000. The value range is 100 - 1000 only when you configure the extended I/O module

Get the status of DI index 1.

DI(1)
# 0,{0},DI(1);

ToolDI

  • Function: ToolDI(index)
  • Description: Get the status of a tool digital input port
  • Supported Port: 29999
  • Return: ErrorID,{value},ToolDI(index); //value: port status of corresponding index, range: 1 or 0
  • Parameters:
Parameter Type Description
index int digital input index, range: 1 or 2

Get the status of ToolDI index 2.

ToolDI(2)
# 0,{1},ToolDI(2);

AI

  • Function: AI(index)
  • Description: Get the voltage of controller analog input port (immediate command).
  • Supported Port: 29999
  • Return: ErrorID,{value},AI(index); //value: voltage of corresponding index
  • Parameters:
Parameter Type Description
index int index of controller, range: 1 or 2

Get the voltage of controller AI index 2.

AI(2)
# 0,{3.5},AI(2);

ToolAI

  • Function: ToolAI(index)
  • Description: Get the voltage of tool analog input (immediate command).
  • Supported Port: 29999
  • Return: ErrorID,{value},ToolAI(index); //value: voltage of corresponding index
  • Parameters:
Parameter Type Description
index int index of tool analog input, range: 1 or 2

Get the voltage of tool AI index 1.

ToolAI(1)
# 0,{1.5},ToolAI(1);

DIGroup

  • Function: DIGroup(index_1,index_2,...,index_n)
  • Description: Get the state of a group of digital input ports
  • Supported Port: 29999
  • Return: ErrorID,{value_1,value_2,...,value_n},DIGroup(index_1,index_2,...,index_n); //value_1...value_n: current voltage from index_1 to index_n
  • Parameters:
Parameter Type Description
index_1 int index of digital input port, range: 1 - 32 or 100 - 1000. The value range is 100 - 1000 only when you configure the extended I/O module
… … …
index_n int index of digit input port, range: 1 - 32 or 100 - 1000. The value range is 100 - 1000 only when you configure the extended I/O module

Get the state of DI indices [4,6,2,7].

DIGroup(4,6,2,7)
# 0,{1,0,1,1},DIGroup(4,6,2,7);

The obtained level of input ports [4, 6, 2, 7] is [1, 0, 1, 1] respectively

DOGroup

  • Function: DOGroup(index_1,value_1,index2,value2,...,index_n,value_n)
  • Description: set the state of a group of digital output ports
  • Supported Port: 29999
  • Return: ErrorID,{},DOGroup(index_1,value_1,index2,value2,...,index_n,value_n);
  • Parameters: the maximum number of parameters is 64
Parameter Type Description
index_1 int index of digit output port, range: 1 - 16 or 100 - 1000.
value_1 int the status of the digital output port. The value is 0 or 1
… … …
index_n int index of digit output port, range: 1 - 16 or 100 - 1000.
value_n int the status of the digital output port. The value is 0 or 1

Set output ports 4, 6, 2, and 7 to 1, 0, 1 and 0 respectively

DOGroup(4,1,6,0,2,1,7,0)
# 0,{},DOGroup(4,1,6,0,2,1,7,0);

BrakeControl

  • Function: BrakeControl(axisID,value)
  • Description: Control brake. The control of the brake should be carried out under the condition that the robot is enabled, otherwise the robot will return -1 by error.
  • Supported Port: 29999
  • Return: ErrorID,{},BrakeControl(axisID,value);
  • Parameters:
Parameter Type Description
axisID int ID of the joint axis
value int

brake status:

  • 0: disable the brake
  • 1: enable the brake

Enable the brake on joint 1.

BrakeControl(1,1)
# 0,{},BrakeControl(1,1);

Note

This command is supported in CR controller version 3.5.2 and above.

StartDrag

  • Function: StartDrag()
  • Description: Enter drag mode.
  • Supported Port: 29999
  • Return: ErrorID,{},StartDrag();
  • Parameters: None

Enable drag mode.

StartDrag()

Note

Drag mode cannot be enabled when the robot is in an error state.

Note

This command is supported in CR controller version 3.5.2 and above.

StopDrag

  • Function: StopDrag()
  • Description: Stop Drag mode
  • Supported Port: 29999
  • Return: ErrorID,{},StopDrag();
  • Parameters: None

Disable drag mode.

StopDrag()

Note

This command is supported in CR controller version 3.5.2 and above.

SetCollideDrag

  • Function: SetCollideDrag(status)
  • Description: Set whether drag is forced to enter (can enter drag even in error state).
  • Supported Port: 29999
  • Return: ErrorID,{},SetCollideDrag(status);
  • Parameters:
Parameter Type Description
status int

force drag switch state:

  • 0: disables the brake
  • 1: enable the brake

Forcibly entry drag mode.

SetCollideDrag(0)

Note

This command is supported in CR controller version 3.5.2 and above.

SetTerminalKeys

  • Function: SetTerminalKeys(status)
  • Description: Set the terminal button to enable.
  • Supported Port: 29999
  • Return: ErrorID,{},SetTerminalKeys(status);
  • Parameters:
Parameter Type Description
status int

status of terminal button:

  • 0: disable
  • 1: enable

Disable terminal buttons

SetTerminalKeys(0)

Note

This command is supported in CR controller version 3.5.2 and above.

SetTerminal485

  • Function: SetTerminal485(baudRate, dataLen, parityBit, stopBit)
  • Description: Set the terminal 485 parameter
  • Supported Port: 29999
  • Return: ErrorID,{},SetTerminal485(status);
  • Parameters:
Parameter Type Description
baudRate int baud rate
dataLen int data bit, currently fixed to 8
parityBit string it is fixed to N, indicating no parity
stopBit int stop bit, currently fixed to 1

Set the baud rate to 115200

SetTerminal485(115200, 8, N, 1)

Note

This command is supported only in certain versions.

GetTerminal485

  • Function: GetTerminal485()
  • Description: Get the terminal 485 interface parameters
  • Supported Port: 29999
  • Return: ErrorID,{baudRate, dataLen, parityBit, stopBit},GetPose(); //{baudRate, dataLen, parityBit, stopBit} represents baud rate, data bit, parity check bit and stop bit respectively.
  • Parameters: None

Get the parameters of the terminal 485 interface.

GetTerminal485()
# 0,{115200, 8, N, 1},GetTerminal485();

Note

This command is supported only in certain versions.

LoadSwitch

  • Function: LoadSwitch(status)
  • Description: Set the load setting state.
  • Supported Port: 29999
  • Return: ErrorID,{},LoadSwitch(status);
  • Parameters:
Parameter Type Description
status int

Set the load setting state:

  • 0: off
  • 1: on. Enabling load Settings increases collision sensitivity

Enable load settings.

LoadSwitch(1)

Real-time Feedback Port Commands

30004 port is the real-time feedback port (30004, 30005, and 30006 ports are supported by controller 3.5.2 or later). The slave can receive information from the robot every 8ms, as shown in the following table. 30005 port feedback robot information every 200ms. 30006 port is a configurable port for robot information feedback (default: 50ms feedback). Each packet received through the real-time feedback port has 1440 bytes, which are arranged in a standard format. The following table shows the order of the bytes.

Meaning Type Number of values Size in bytes Byte position value Notes
MessageSize unsigned short 1 2 0000 - 0001 Total message length in bytes
  unsigned short 3 6 0002 - 0007 Reserved
DigitalInputs uint64 1 8 0008 - 0015 Current state of the digital inputs.
DigitalOutputs uint64 1 8 0016 - 0023 Digital output
RobotMode uint64 1 8 0024 - 0031 Robot mode
TimeStamp uint64 1 8 0032 - 0039 Time stamp (ms)
  uint64 1 8 0040 - 0047 Reserved
TestValue uint64 1 8 0048 - 0055 test standard value
  double 1 8 0056 - 0063 Reserved
SpeedScaling double 1 8 0064 - 0071 Speed scaling of the trajectory limiter
LinearMomentumNorm double 1 8 0072 - 0079 Norm of Cartesian linear momentum(specific hardware version )
VMain double 1 8 0080 - 0087 Masterboard: Main voltage
VRobot double 1 8 0088 - 0095 Masterboard: Robot voltage (48V)
IRobot double 1 8 0096 - 0103 Masterboard: Robot current
  double 1 8 0104 - 0111 Reserved
  double 1 8 0112 - 0119 Reserved
ToolAcceleroMeter double 3 24 0120 - 0143 Tool x,y and z accelerometer values(specific hardware version)
ElbowPosition double 3 24 0144 - 0167 Elbow position(specific hardware version)
ElbowVelocity double 3 24 0168 - 0191 Elbow velocity(specific hardware version)
QTarget double 6 48 0192 - 0239 Target joint positions
QDTarget double 6 48 0240 - 0287 Target joint velocities
QDDTarget double 6 48 0288 - 0335 Target joint accelerations
ITarget double 6 48 0336 - 0383 Target joint currents
MTarget double 6 48 0384 - 0431 Target joint moments (torques)
QActual double 6 48 0432 - 0479 Actual joint positions
QDActual double 6 48 0480 - 0527 Actual joint velocities
IActual double 6 48 0528 - 0575 Actual joint currents
ActualTCPForce double 6 48 0576 - 0623 TCP sensor value (calculated by six-axis force)
ToolVectorActual double 6 48 0624 - 0671 Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
TCPSpeedActual double 6 48 0672 - 0719 Actual speed of the tool given in Cartesian coordinates
TCPForce double 6 48 0720 - 0767 TCP force value (calculated by joint current)
ToolVectorTarget double 6 48 0768 - 0815 Target Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
TCPSpeedTarget double 6 48 0816 - 0863 Target speed of the tool given in Cartesian coordinates
MotorTemperatures double 6 48 0864 - 0911 Temperature of each joint in degrees celsius
JointModes double 6 48 0912 - 0959 Joint control modes
VActual double 6 48 960 - 1007 Actual joint voltages
HandType char 4 4 1008 - 1011 Hand Type
User char 1 1 1012 User coordinate
Tool char 1 1 1013 Tool coordinate
RunQueuedCmd char 1 1 1014 Queue running flag
PauseCmdFlag char 1 1 1015 Queue pause flag
VelocityRatio char 1 1 1016 Joint velocity ratio(0 - 100)
AccelerationRatio char 1 1 1017 Joint acceleration ratio(0 - 100)
JerkRatio char 1 1 1018 Joint jerk ratio(0 - 100)
XYZVelocityRatio char 1 1 1019 Cartesian position velocity ratio(0 - 100)
RVelocityRatio char 1 1 1020 Cartesian pose velocity ratio(0 - 100)
XYZAccelerationRatio char 1 1 1021 Cartesian position acceleration ratio(0 - 100)
RAccelerationRatio char 1 1 1022 Cartesian attitude acceleration ratio(0 - 100)
XYZJerkRatio char 1 1 1023 Cartesian position jerk ratio(0 - 100)
RJerkRatio char 1 1 1024 Cartesian pose jerk ratio(0 - 100)
BrakeStatus char 1 1 1025 Brake status
EnableStatus char 1 1 1026 Enable status
DragStatus char 1 1 1027 Drag status
RunningStatus char 1 1 1028 Running status
ErrorStatus char 1 1 1029 Alarm status
JogStatusCR char 1 1 1030 Jogging status
CRRobotType char 1 1 1031 Robot type
DragButtonSignal char 1 1 1032 Drag signal
EnableButtonSignal char 1 1 1033 Enable signal
RecordButtonSignal char 1 1 1034 Record the signal
ReappearButtonSignal char 1 1 1035 Repetition signal
JawButtonSignal char 1 1 1036 Grip control signal
SixForceOnline char 1 1 1037 Six - axis force online status
Reserve2[82] char 1 82 1038 - 1119 Reserved
MActual[6] double 6 48 1120 - 1167 Actual torque
Load double 1 8 1168 - 1175 Payload weight
CenterX double 1 8 1176 - 1183 Eccentric distance in X direction
CenterY double 1 8 1184 - 1191 Eccentric distance in Y direction
CenterZ double 1 8 1192 - 1199 Eccentric distance in Z direction
User[6] double 6 48 1200 - 1247 User coordinate
Tool[6] double 6 48 1248 - 1295 Tool coordinate
TraceIndex double 1 8 1296 - 1303 Track playback running index
SixForceValue[6] double 6 48 1304 - 1351 Six - axis force original value
TargetQuaternion[4] double 4 32 1352 - 1383 Target quaternion [qw,qx,qy,qz]
ActualQuaternion[4] double 4 32 1384 - 1415 Actual quaternion[qw,qx,qy,qz]
Reserve3[24] char 1 24 1416 - 1440 Reserved
TOTAL     1440   1440byte package

Robot Mode returns the mode of robot as follows:

Mode Description Note
1 ROBOT_MODE_INIT Initialization
2 ROBOT_MODE_BRAKE_OPEN Brake release
3   Reserved
4 ROBOT_MODE_DISABLED Disabled (brake is not released)
5 ROBOT_MODE_ENABLE Enable (idle)
6 ROBOT_MODE_BACKDRIVE Drag
7 ROBOT_MODE_RUNNING Run
8 ROBOT_MODE_RECORDING Drag record
9 ROBOT_MODE_ERROR Alarm
10 ROBOT_MODE_PAUSE Pause state
11 ROBOT_MODE_JOG Jogging
  • Description:
    • If the brake is released, the mode is 2.
    • If the robot is powered on but not enabled, the mode is 4.
    • If the robot is enabled successfully, the mode is 5.
    • If the robot runs, the mode is 7.
    • If the robot pauses, the mode is 10.
    • If the robot enters drag mode (enabled state), the mode is 6.
    • If the robot is dragging and recording, the mode is 8.
    • If the robot is jogging, the mode is 11.
    • Alarm is the top priority. When other modes exist simultaneously, if there is an alarm, the mode is set to 9 first.
  • BrakeStatus:
  • 0x01: indicates that the sixth axle brake is released.
  • 0x02: indicates that the fifth axle brake is released.
  • 0x03: indicates that the fifth and sixth axles brake is released.
  • 0x04: indicates that the forth axle brake is released.
  • The following bits indicate the locking state:
7 6 5 4 3 2 1 0
Reserved Reserved Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6
  • JointModes:
    • 8: position mode.
    • 10: torque mode.
  • HandType contains four char parameters, which are LorR, UorD, ForN, and Config6 for the CR series.
  • RobotType:
RobotType Product
3 CR3
31 CR3L
5 CR5
7 CR7
10 CR10
12 CR12
16 CR16
113 CR3V2
115 CR5V2
120 CR10V2

Motion Port Commands

The following commands are supported by the Motion 30003 port.

MovJ

  • Function: MovJ(X,Y,Z,Rx,Ry,Rz,User=index,Tool=index,SpeedJ=R,AccJ=R)
  • Description: Point to point movement provided a Cartesian target with smooth movement in joint space
  • Supported Port: 30003
  • Return: ErrorID,{},MovJ(X,Y,Z,Rx,Ry,Rz);
  • Parameters:
Parameter Type Description
X double X-axis coordinates in mm
Y double Y-axis coordinates in mm
Z double Z-axis coordinates in mm
Rx double Rx-axis coordinates in degrees
Ry double Ry-axis coordinates in degrees
Rz double Rz-axis coordinates in degrees

User, Tool, SpeedJ, AccJ are optional parameters, indicate setting user coordinate system, tool coordinate system, joint velocity ratio and acceleration ratio values respectively. The value has the same meaning as SpeedJ and AccJ setting by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

Move to X=-500mm, Y=100mm, Z=200mm, Rx=150°, Ry=0°, Rz=90°, with a 50% acceleration ratio. Movement will be done smoothly in the joint space.

MovJ(-500,100,200,150,0,90,AccJ=50)
# ErrorID,{},MovJ(-500,100,200,150,0,90,AccJ=50);

MovL

  • Function: MovL(X,Y,Z,Rx,Ry,Rz,User=index,Tool=index,SpeedL=R,AccL=R)
  • Description: Point to point movement provided a Cartesian target with smooth movement in Cartesian space, i.e. movement will be linear.
  • Supported Port: 30003
  • Return: ErrorID,{},MovL(X,Y,Z,Rx,Ry,Rz,SpeedL=R,AccL=R);
  • Parameters:
Parameter Type Description
X double X-axis coordinates in mm
Y double Y-axis coordinates in mm
Z double Z-axis coordinates in mm
Rx double Rx-axis coordinates in degrees
Ry double Ry-axis coordinates in degrees
Rz double Rz-axis coordinates in degrees

User, Tool, SpeedJ, AccJ are optional setting parameters, indicate setting user coordinate system, tool coordinate system, joint velocity ratio and acceleration ratio values respectively. The value has the same meaning as SpeedJ and AccJ setting by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

Move to X=-500mm, Y=100mm, Z=200mm, Rx=150°, Ry=0°, Rz=90°, with a 50% velocity ratio. Movement will be done smoothly in the Cartesian space.

MovL(-500,100,200,150,0,90,SpeedL=60)
# ErrorID,{},MovL(-500,100,200,150,0,90,SpeedL=60);

JointMovJ

  • Function: JointMovJ(J1,J2,J3,J4,J5,J6)
  • Description: Point to point movement with joint position targets
  • Supported Port: 30003
  • Return: ErrorID,{},JointMovJ(J1,J2,J3,J4,J5,J6,SpeedJ=R,AccJ=R);
  • Parameters:
Parameter Type Description
J1 double J1 coordinates in degrees
J2 double J2 coordinates in degrees
J3 double J3 coordinates in degrees
J4 double J4 coordinates in degrees
J5 double J5 coordinates in degrees
J6 double J6 coordinates in degrees

SpeedJ and AccJ are optional parameters, indicating setting joint velocity ratio and acceleration ratio respectively. The value has the same meaning as SpeedJ and AccJ setting by port 29999.

Move joints to position [0,0,-90,0,90,0], with a 50% acceleration ratio.

JointMovJ(0,0,-90,0,90,0)
# ErrorID,{},JointMovJ(0,0,-90,0,90,0,SpeedJ=60,AccJ=50);

MovLIO

  • Function: MovLIO(X,Y,Z,Rx,Ry,Rz,{Mode,Distance,Index,Status},... ,{Mode,Distance,Index,Status},User=index,Tool=index,SpeedL=R,AccL=R)
  • Description: Point to point movement provided a Cartesian target with smooth movement in Cartesian space, i.e. movement will be linear, while simultaneously setting IO status.
  • Supported Port: 30003
  • Return: ErrorID,{},MovLIO(X,Y,Z,Rx,Ry,Rz,{Mode,Distance,Index,Status},... ,{Mode,Distance,Index,Status},SpeedL=R,AccL=R);
  • Parameters:
Parameter Type Description
X double X-axis coordinates in mm
Y double Y-axis coordinates in mm
Z double Z-axis coordinates in mm
Rx double A-axis coordinates in degrees
Ry double Ry-axis coordinates in degrees
Rz double Rz-axis coordinates in degrees
Mode int

mode of Distance:

  • 0: distance percentage
  • 1: distance away from the starting point or target point
Distance int

move specified distance:

  • Mode is 0, Distance refers to the distance percentage between the starting point and target point; range: 0 - 100
  • If Distance value is positive, it refers to the distance away from the starting point
  • If Distance value is negative, it refers to the distance away from the target point
Index int digital output index, range: 1 - 24
Status int digital output status, range: 0 or 1

SpeedL and AccL are optional parameters, indicating setting user coordinate system, tool coordinate system, Cartesian speed ratio and acceleration ratio values respectively. The value is the same as the value of SpeedL and AccL set by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

MovLIO(-500,100,200,150,0,90,{0,50,1,0})

MovJIO

  • Function: MovJIO(X,Y,Z,Rx,Ry,Rz,{Mode,Distance,Index,Status},... ,{Mode,Distance,Index,Status},User=index,Tool=index,SpeedJ=R,AccJ=R)
  • Description: Point to point movement provided a Cartesian target with smooth movement in joint space, while simultaneously setting IO status.
  • Supported Port: 30003
  • Return: ErrorID,{},MovJIO(X,Y,Z,Rx,Ry,Rz,{Mode,Distance,Index,Status},...,{Mode,Distance,Index,Status},SpeedJ=R,AccJ=R);
  • Parameters:
Parameter Type Description
X double X-axis coordinates in mm
Y double Y-axis coordinates in mm
Z double Z-axis coordinates in mm
Rx double Rx-axis coordinates in degrees
Ry double Ry-axis coordinates in degrees
Rz double Rz-axis coordinates in degrees
Mode int

mode of Distance:

  • 0: distance percentage
  • 1: distance away from the starting point or target point
Distance int

move specified distance:

  • If Mode is 0, Distance refers to the distance percentage between the starting point and target point; range: 0 - 100.
  • If Distance value is positive, it refers to the distance away from the starting point;
  • If Distance value is negative, it refers to the distance away from the target point
Index int digital output index, range: 1 - 24
Status int digital output status, range: 0 or 1

SpeedL and AccL are optional parameters, indicating setting user coordinate system, tool coordinate system, Cartesian speed ratio and acceleration ratio values respectively. The value is the same as the value of SpeedL and AccL set by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

MovJIO(-500,100,200,150,0,90,{0,50,1,0})

Arc

  • Function: Arc(X1,Y1,Z1,Rx1,Ry1,Rz1,X2,Y2,Z2,Rx2,Ry2,Rz2,User=index,Tool=index,SpeedL=R,AccL=R)
  • Description: Move from the current position to a target position in an arc-interpolated mode under the Cartesian coordinate system. This command needs to combine with other motion commands to obtain the starting point of an arc trajectory
  • Supported Port: 30003
  • Return: ErrorID,{},Arc(X1,Y1,Z1,Rx1,Ry1,Rz1,X2,Y2,Z2,Rx2,Ry2,Rz2,SpeedL=R,AccL=R);
  • Parameters:
Parameter Type Description
X1 double X1-axis coordinates of arc center point in mm
Y1 double Y1-axis coordinates of arc center point in mm
Z1 double Z1-axis coordinates of arc center point in mm
Rx1 double Rx1-axis coordinates of arc center point in degrees
Ry1 double Ry1-axis coordinates of arc center point in degrees
Rz1 double Rz1-axis coordinates of arc center point in degrees
X2 double X2-axis coordinates of arc ending point in mm
Y2 double Y2-axis coordinates of arc ending point in mm
Z2 double Z2-axis coordinates of arc ending point in mm
Rx2 double Rx2-axis coordinates of arc ending point in degrees
Ry2 double Ry2-axis coordinates of arc ending point in degrees
Rz2 double Rz2-axis coordinates of arc ending point in degrees 
MovL(-300,-150,200,150,0,90,SpeedL=100,AccL=100)
Arc(-350,-200,200,150,0,90,-300,-250,200,150,0,90)

ServoJ

  • Function: ServoJ(J11,J12,J13,J14,J15,J16)
  • Description: Dynamic movement command in the joint space. This command can be interrupted by another ServoJ command.
  • Supported Port: 30003
  • Return: ErrorID,{},ServoJ(J11,J12,J13,J14,J15,J16);
  • Parameters:
Parameter Type Description
J11 double J11 coordinates of P1 in degrees
J12 double J12 coordinates of P1 in degrees
J13 double J13 coordinates of P1 in degrees
J14 double J14 coordinates of P1 in degrees
J15 double J15 coordinates of P1 in degrees
J16 double J16 coordinates of P1 in degrees 
ServoJ(0,0,-90,0,90,0)

Attention

You are advised to set the frequency of customer secondary development to 33Hz (30ms), that is, set the cycle interval to at least 30ms.

ServoP

  • Function: ServoP(X1,Y1,Z1,A1,B1,C1)
  • Description: Dynamic movement command in the Cartesian space. This command can be interrupted by another ServoP command.
  • Supported Port: 30003
  • Return: ErrorID,{},ServoP(X1,Y1,Z1,A1,B1,C1);
  • Parameters:
Parameter Type Description
X1 double X1-axis coordinates in mm
Y1 double Y1-axis coordinates in mm
Z1 dou Z1-axis coordinates in mm
A1 double A1-axis coordinates in degrees
B1 double B1-axis coordinates in degrees
C1 double C1-axis coordinates in degrees 
ServoP(-500,100,200,150,0,90)

Attention

You are advised to set the frequency of customer secondary development to 33Hz (30ms), that is, set the cycle interval to at least 30ms.

MoveJog

  • Function: MoveJog(axisID,CoordType=typeValue,User=index,Tool=index)
  • Description: Command jogging movement
  • Supported Port: 30003
  • Return: ErrorID,{},MoveJog(axisID,CoordType=typeValue,User=index,Tool=index); If ErrorID is -1, it indicates that the set user coordinate index or tool coordinate index does not exist
  • Parameters:
Parameter Type Description
axisID string
  • J1+ means joint 1 is moving in the positive direction and J1- means joint 1 is moving in the negative direction
  • J2+ means joint 2is moving in the positive direction and J2- means joint 2 is moving in the negative direction
  • J3+ means joint 3 is moving in the positive direction and J3- means joint 3 is moving in the negative direction
  • J4+ means joint 4 is moving in the positive direction and J4- means joint 4 is moving in the negative direction
  • J5+ means joint 5 is moving in the positive direction and J5- means joint 5 is moving in the negative direction
  • J6+ means joint 6 is moving in the positive direction and J6- means joint 6 is moving in the negative direction
  • X+ means joint X is moving in the positive direction and X- means joint X is moving in the negative direction
  • Y+ means joint Y is moving in the positive direction and Y- means joint Y is moving in the negative direction
  • Z+ means joint Z is moving in the positive direction andZ- means joint Z is moving in the negative direction
  • Rx+ means joint Rx is moving in the positive direction and Rx- means joint Rx is moving in the negative direction
  • Ry+ means joint Ry is moving in the positive direction and Ry- means joint Ry is moving in the negative direction
  • Rz+ means joint Rz is moving in the positive direction and Rz- means joint Rz is moving in the negative direction

CoordType, User, and Tool are optional parameters and retain the default values.

CoordType:

  • 0: user coordinate system
  • 1: joint coordinate system
  • 2: tool coordinate system. The default value is 1.

User: User index 0 to 9. The default value is 0. Tool: Tool index 0 to 9. The default value is 0.

The optional parameters CoordType, User, and Tool are ignored if the User sends the node to run again.

Move J2 in the negative direction, and then stop.

MoveJog(j2-)
# Return: 0,{},MoveJog(j2-);
MoveJog()
# 0,{},MoveJog();

Note

This command is supported in CR controller version 3.5.2 and above.

StartTrace

  • Function: StartTrace(traceName)
  • Description: Trajectory fitting. The trajectory file is a Cartesian point
  • Supported Port: 30003
  • Return: ErrorID,{},StartTrace(traceName);
  • Parameters:
Parameter Type Description
traceName string Track file name (including suffix)

Users can query the running status of robots by obtaining RobotMode:

  • ROBOT_MODE_RUNNING indicates that the robot is in the trajectory fitting operation
  • ROBOT_MODE_IDLE indicates that the trajectory fitting operation is completed
  • ROBOT_MODE_ERROR indicates that the robot is alarming.

Get the first node {x,y,z,rx,ry,rz} of the trajectory file of recv_string. After the point-to-point movement reaches {x,y,z,rx,ry,rz}, the file recv_string is delivered for trajectory fitting.

GetTraceStartPose(recv_string.json)
# 0,{x,y,z,rx,ry,rz},GetTraceStartPose(recv_string.json);

MovJ(x,y,z,rx,ry,rz)
# 0,{},MovJ(x,y,z,rx,ry,rz);

StartTrace(recv_string)
# 0,{},StartTrace(recv_string);

Note

This command is supported in CR controller version 3.5.2 and above.

StartPath

  • Function: StartPath(traceName,const,cart)
  • Description: Trajectory playback (joint point in the trajectory file).
  • Supported Port: 30003
  • Return: ErrorID,{},StartTrace(traceName);
  • Parameters:
Parameter Type Description
traceName string Track file name (including suffix)

Users can query the running status of robots by obtaining RobotMode:

  • ROBOT_MODE_RUNNING indicates that the robot is in the trajectory fitting operation
  • ROBOT_MODE_IDLE indicates that the trajectory fitting operation is completed
  • ROBOT_MODE_ERROR indicates that the robot is alarming.

Get the first node {x,y,z,rx,ry,rz} of the trajectory file of recv_string. After the point-to-point movement reaches {x,y,z,rx,ry,rz}, the file recv_string is delivered for trajectory fitting.

GetTraceStartPose(recv_string.json)
# 0,{x,y,z,rx,ry,rz},GetTraceStartPose(recv_string.json);

MovJ(x,y,z,rx,ry,rz)
# 0,{},MovJ(x,y,z,rx,ry,rz);

StartTrace(recv_string)
# 0,{},StartTrace(recv_string);

Note

This command is supported in CR controller version 3.5.2 and above.

Sync

  • Function: Sync()
  • Description: A blocking command that executes queue commands and does not return until all queue commands have been executed
  • Supported Port: 30003
  • Return: ErrorID,{},Sync();
  • Parameters: None

Block until all queue commands are executed.

Sync()

RelMovJTool

  • Function: RelMovJTool(offsetX,offsetY,offsetZ,offsetRx,offsetRy,offsetRz,Tool,SpeedJ=R,AccJ=R,User=Index)
  • Description: Perform joint-interpolated relative motion in a tool coordinate system
  • Supported Port: 30003
  • Return: ErrorID,{},RelMovJTool(OffsetX,OffsetY,OffsetZ,OffsetRx,OffsetRy,OffsetRz,Tool,SpeedJ=R, AccJ=R,User=Index);
  • Parameters:
Parameter Type Description
OffsetX double X-axis coordinates in mm
OffsetY double Y-axis coordinates in mm
OffsetZ double Z-axis coordinates in mm
OffsetRx double Rx-axis coordinates in degrees
OffsetRy double Ry-axis coordinates in degrees
OffsetRz double Rz-axis coordinates in degrees
Tool int Calibrated tool coordinate system, value range: 0 to 9

SpeedL and AccL are optional parameters, indicating setting user coordinate system, tool coordinate system, Cartesian speed ratio and acceleration ratio values respectively. The value is the same as the value of SpeedL and AccL set by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

Move 10 mm relative to the current end position in the X, Y, and Z directions. Movement will be smooth in the joint space.

RelMovJTool(10,10,10,0,0,0,0)

Note

This command is supported in CR controller version 3.5.2 and above.

RelMovLTool

  • Function: RelMovLTool(OffsetX,OffsetY,OffsetZ,OffsetRx,OffsetRy,OffsetRz, Tool,SpeedL=R, AccL=R,User=Index)
  • Description: Perform relative motion along the tool coordinate system, and the end motion is linear motion
  • Supported Port: 30003
  • Return: ErrorID,{},RelMovLTool(OffsetX,OffsetY,OffsetZ,OffsetRx,OffsetRy,OffsetRz,Tool,SpeedL=R, AccL=R,User=Index);
  • Parameters:
Parameter Type Description
OffsetX double X-axis coordinates in mm
OffsetY double Y-axis coordinates in mm
OffsetZ double Z-axis coordinates in mm
OffsetRx double Rx-axis coordinates in degrees
OffsetRy double Ry-axis coordinates in degrees
OffsetRz double Rz-axis coordinates in degrees
Tool int Calibrated tool coordinate system, value range: 0 to 9

SpeedL and AccL are optional parameters, indicating setting user coordinate system, tool coordinate system, Cartesian speed ratio and acceleration ratio values respectively. The value is the same as the value of SpeedL and AccL set by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

Move 10 mm relative to the current end position in the X, Y, and Z directions. Movement will be smooth in the Cartesian space.

RelMovLTool(10,10,10,0,0,0,0)

Note

This command is supported in CR controller version 3.5.2 and above.

RelMovJUser

  • Function: RelMovJUser(OffsetX,OffsetY,OffsetZ,OffsetRx,OffsetRy,OffsetRz,User,SpeedJ=R,AccJ=R,Tool=Index)
  • Description: Perform relative motion along the user coordinate system, and the end motion mode is the joint motion
  • Supported Port: 30003
  • Return: ErrorID,{},RelMovJUser(OffsetX,OffsetY,OffsetZ,OffsetRx,OffsetRy,OffsetRz,User,SpeedJ=R, AccJ=R,Tool=Index);
  • Parameters:
Parameter Type Description
OffsetX double X-axis coordinates in mm
OffsetY double Y-axis coordinates in mm
OffsetZ double Z-axis coordinates in mm
OffsetRx double Rx-axis coordinates in degrees
OffsetRy double Ry-axis coordinates in degrees
OffsetRz double Rz-axis coordinates in degrees
User int Calibrated user coordinate system, value range: 0 to 9

SpeedL and AccL are optional parameters, indicating setting user coordinate system, tool coordinate system, Cartesian speed ratio and acceleration ratio values respectively. The value is the same as the value of SpeedL and AccL set by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

RelMovLTool(10,10,10,0,0,0,0)

RelMovLUser

  • Function: RelMovLUser(OffsetX,OffsetY,OffsetZ,OffsetRx,OffsetRy,OffsetRz, User,SpeedL=R, AccL=R,Tool=Index)
  • Description: Perform relative motion along the user coordinate system, and the end motion mode is a linear motion
  • Supported Port: 30003
  • Return: ErrorID,{},RelMovLUser(OffsetX,OffsetY,OffsetZ,OffsetRx,OffsetRy,OffsetRz,User,SpeedL=R, AccL=R,Tool=Index);
  • Parameters:
Parameter Type Description
OffsetX double X-axis coordinates in mm
OffsetY double Y-axis coordinates in mm
OffsetZ double Z-axis coordinates in mm
OffsetRx double Rx-axis coordinates in degrees
OffsetRy double Ry-axis coordinates in degrees
OffsetRz double Rz-axis coordinates in degrees
User int Calibrated user coordinate system, value range: 0 to 9

SpeedL and AccL are optional parameters, indicating setting user coordinate system, tool coordinate system, Cartesian speed ratio and acceleration ratio values respectively. The value is the same as the value of SpeedL and AccL set by port 29999.

User: indicates the User index 0 to 9. The default value is the last used value. Tool: Tool index 0 to 9. The default value is the last used value.

RelMovLUser(10,10,10,0,0,0,0)

Note

This command is supported in CR controller version 3.5.2 and above.

RelJointMovJ

  • Function: RelJointMovJ(Offset1,Offset2,Offset3,Offset4,Offset5,Offset6,SpeedJ=R,AccJ=R)
  • Description: Perform relative motion along the joint coordinate system of each axis, and the end motion mode is joint motion
  • Supported Port: 30003
  • Return: ErrorID,{},RelJointMovJ(Offset1,Offset2,Offset3,Offset4,Offset5,Offset6,SpeedJ=R,AccJ=R);
  • Parameters:
Parameter Type Description
Offset1 double J1-axis offset in degrees
Offset2 double J2-axis offset in degrees
Offset3 double J3-axis offset in degrees
Offset4 double J4-axis offset in degrees
Offset5 double J5-axis offset in degrees
Offset6 double J6-axis offset in degrees

SpeedJ and AccJ are optional parameters, which refer to setting joint speed ratio and acceleration ratio respectively. The meaning of SpeedJ and AccJ value is the same as that of SpeedJ and AccJ value set by port 29999.

RelJointMovJ(10,10,10,0,0,0)

Note

This command is supported in CR controller version 3.5.2 and above.

Error Code Descriptions

Error code Description Note
0 No error operate successfully
-1 fail to get Failed to receive or establish
… … …
-10000 Command error The command does not exist
-20000 Parameter number error The number of parameters in the command is incorrect
-30001 The first parameter has an incorrect parameter type 30000 indicates that the parameter type is incorrect.<br/>The last bit 1 indicates that the parameter type of the first parameter is wrong
-30002 The second parameter has an incorrect parameter type 30000 indicates that the parameter type is incorrect.<br/>The last bit 2 indicates that the parameter type of the second parameter is wrong
… … …
-40001 The first parameter has an incorrect parameter range -40000 indicates that the parameter range is incorrect.<br/>The last bit of 1 indicates that the range of the first parameter is wrong
-40002 The second parameter has an incorrect parameter range -40000 indicates that the parameter range is incorrect.<br/>The last bit of 2 indicates that the range of the second parameter is wrong
… … …