TCP/IP interface#

When powered on, the robot acts as a TCP Server to listen for connections between ports 2000 and 2001. Port 2000 can receive control commands for the robot and return status. Port 2001 sends external information about the current status of the robot at a frequency of 10Hz.

Port 2000#

Port 2000 adopts a request-response response mechanism and can accept system commands. The communication protocol between the Client and Server is as follows:

Received

instruction

Returned value

Instructions

run(program name)

or run(program

name,percent speed)

Feedback at start: run start

Feedback of run fail:

The robot will run the corresponding program.

If the speed percentage is not set or the

speed percentage parameter is invalid,

the robot runs at the current speed.

speed(Percentage

of speed)

Execution success Feedback:

set success

Feedback on execution failure

: set fail

can change the percentage of program

running speed. The parameter range is

(0,100). If the modification succeeds,

set success is displayed. If

the modification fails, set fail is

displayed

stop

Execution success Feedback:

stop success

Execution failure feedback : stop fail

The robot will stop the currently executed

command. A stop success receipt will be

sent after stopping. If the robot is

not running, it will send a stop fail

receipt after receiving the stop command

pause

pause success is displayed

Feedback on execution failure

: pause fail

pause fail The robot will pause the current

command. A pause success receipt is sent

when stopped. If the robot is not running,

it sends a pause fail receipt after

receiving the pause command.

resume

resume success

If the execution fails,

resume fail

The robot will continue to run the program

when paused. A resume success receipt is

sent at runtime. If the robot is not in the

paused state, it sends a resume fail receipt

after receiving the resume command

poweron

Execution success feedback:

poweron success

Execution failure feedback:

poweron fail

Power on the robot. If the robot is

successfully powered on, establish a

communication link and return poweron success

If this fails, poweron fail is displayed.

If the system is powered on, already poweron

is displayed

poweroff

Execution success feedback:

poweroff success

Execution failure feedback:

poweroff fail

The robot is powered off. If the robot

is powered off successfully, the poweroff

success message is displayed.

already poweroff

If this fails, poweroff fail is displayed.

If the system is powered off,

already poweroff is displayed

enable

success feedback: enable

success

Execution failure feedback

: enable fail

The function is enabled on the robot.

the function is enabled successfully,

If the system returns enable success

If the command fails, enable fail

is displayed. If the command is

enabled, already enable is displayed

disable

disable success is displayed

Execution failure feedback:

disable fail

If the robot is successfully enabled,

success is displayed If the function fails,

disable disable fail is displayed. If

the function is powered on but not enabled,

already disable is displayed

shutdown

shutdown success feedback:

shutdown success

The robot is in poweroff state, the robot

system will automatically shutdown,

and the shutdown success receipt will be

returned. If the robot is not powered off,

return the shutdown fail receipt

state

Feedback each system state ,

machine, format:(2): (3):(4)

Note: (1) Robot state machine,

  1. robot program running

state, (3) security

monitoring state (4) robot

operation mode

Each state machine is returned as a

number. Each number represents the

state. Refer to Port 2001, address 1448-1451

isprogfinish

Feedback whether the program

has finished running, end

feedback character 1, not

end feedback character 0

getlasterror

Feedback the detailed error

information of the last error

reported by the robot. The

format is error_id:error

_messagen

Error codes are returned in hexadecimal

getsysteminfo

Feedback series number, model

number, SN number, firmware

version number and other

information of the robot

Port 2001#

Port 2001 will send the current status information of the robot to the outside at a frequency of 10Hz, with a total length of 1468 bytes.

Data

Type

Number

Bytes Size

Address

comment

Actual joint

position

float

7

28

0-27

6 Actual position of each joint.

The seventh position is reserved.

Unit is rad

Actual joint

velocity

float

7

28

28-55

6 Actual speed of each joint,

the 7th place is reserved.

The unit is rad/s

Actual joint

acceleration

float

7

28

56-83

6 Actual acceleration of each joint,

the seventh place is reserved.

The unit is rad/s^2

Actual joint

torque

float

7

28

84-111

6 Actual torque of each joint. The seventh

bit is reserved. Unit: Nm

Desired joint

position

float

7

28

112-139

6 Set the position of each joint, and

reserve the 7th position. Unit is rad

Desired joint

velocity

float

7

28

140-167

6 joints set their own speed,

and the 7th position is reserved.

The unit is rad/s

Expected joint

acceleration

float

7

28

168-195

6 Set the acceleration of each joint,

and reserve the 7th position.

The unit is rad/s^2

Joint expected

torque

float

7

28

196-223

6 Set the torque for each joint,

and reserve the seventh bit.

Unit: Nm

Actual joint

temperature

float

7

28

224-251

7 Actual temperature of each joint.

Data reservation

Actual joint

current

float

7

28

252-279

6 Actual current of each joint, the 7th digit

is reserved. The unit is the rated

current kilofraction.

Servo driver

error id

uint

7

28

280-307

6 Joint servo drive error id. The seventh

digit is reserved.

Servo drive

status word

uint

7

28

308-335

6 joint servo drive status word,

7th bit reserved

reserve

byte

32

32

336-367

TCP physical

position

float

6

24

368-391

End Cartesian space actual pose.

TCP relative to the base coordinate system.

Data definition: X, Y, Z,Rx,Ry,Rz, unit m, rad

TCP actual speed

float

6

24

392-415

Actual velocity in terminal Cartesian space.

TCP relative to the base coordinate system.

Data definition: X, Y, Z,Rx,Ry,Rz, rad/s

TCP actual

acceleration

float

6

24

416-439

Actual velocity in terminal Cartesian space.

TCP relative to the base coordinate system.

Data definition: X, Y, Z,Rx,Ry,Rz, in m/s^2,

rad/s^2

Actual external

force of flange

float

6

24

440-463

The external force on the robot end flange,

when the end torque sensor is configured,

is the force description of the sensor data

under the robot end flange. Data definition:

X, Y, Z,Rx,Ry,Rz, unit N, Nm

TCP desired

position

float

6

24

464-487

End Cartesian space actual pose.

TCP relative to the base coordinate system.

Data definition: X, Y, Z,Rx,Ry,Rz, unit m, rad

TCP expected speed

float

6

24

488-511

Actual velocity in terminal Cartesian space.

TCP relative to the base coordinate system.

Data definition: X, Y, Z,Rx,Ry,Rz, in m/s, rad/s

TCP expected

acceleration

float

6

24

512-535

Actual velocity in terminal Cartesian space.

TCP relative to the base coordinate system.

Data definition: X, Y, Z,Rx,Ry,Rz, in m/s^2, rad/s^2

Theoretical

external force

of flange

float

6

24

536-559

The theoretical external force received by

the end flange of the robot in the

current motion state. Data definition:

X, Y, Z,Rx,Ry,Rz, unit N, Nm

Actual external

force on the base

float

6

24

560-583

Actual force on the base Description of the

force under the robot base. When

a base torque sensor is configured,

the value is the measured value of

the torque sensor. The value is defined as

X, Y, Z,Rx,Ry,Rz (unit: N, Nm)

Theoretical

external force on

a base

float

6

24

584-607

In the current motion state, the theoretical

force of the base under the robot base

is described. Data definition:

X, Y, Z,Rx,Ry,Rz, unit N, Nm

Currently active

tool coordinate

system

float

6

24

608-631

Data definition: X, Y, Z,Rx,Ry,Rz, unit m, rad

Currently active

workpiece

coordinate

system

float

6

24

632-655

Does not contain the current tool coordinate,

offset. Data definition: X, Y, Z

Rx,Ry,Rz, unit m, rad

Closing velocity

float

1

4

656-659

Terminal closing velocity, in m/s

Global velocity

byte

1

1

660

Global velocity percentage

Jog speed

byte

1

1

661

Percent Jog speed

reserve

byte

58

58

662-719

Features digital

IO input

byte

8

8

720-727

A byte represents a bool quantity. True=1,

false=0. It corresponds to hardware FDI1-FDI8

Function digital

IO output

byte

8

8

728-735

A byte represents a bool quantity.

True=1,false=0. It corresponds

to hardware FDO1-FDO8

Digital IO input

byte

16

16

736-751

Common DI inputs 1 to 16 correspond to the

DI interface. It corresponds to hardware DI1-DI16

Digital IO output

byte

16

16

752-767

Corresponding to common DO output 1-16 of the DO

interface. It corresponds to hardware DO1-DO16

Analog input

float

8

32

768-799

8 analog inputs, the first 4 for current,

the last 4 for voltage. It corresponds

to hardware AI_C1-AI_C4,AI_V1-AI_V4.

For details about the value range,

see the hardware manual.

Analog output

float

8

32

800-831

reserve

float register

input

float

32

128

832-959

It can be modified using external interfaces

such as modbus and Profinet

float register

output

float

32

128

960-1087

It can be modified by script functions

Function bool

Register input

byte

16

16

1088-1103

It can be modified using external interfaces

such as modbus and Profinet

Function bool

Register output

byte

16

16

1104-1119

It can be modified using external interfaces

such as modbus and Profinet

bool register

input

byte

64

64

1120-1183

It can be modified using external interfaces

such as modbus and Profinet

bool register

output

byte

64

64

1184-1247

It can be modified by script functions

word register

input

char

32

64

1248-1311

It can be modified using external interfaces

such as modbus and Profinet

word register

output

char

32

64

1312-1375

It can be modified by script functions

reserve

byte

32

31

1376-1406

Simulation/real

machine

byte

1

1

1407

Robot simulation/real machine mode

Tool IO input

byte

8

8

1408-1415

Tool numeric input (1-2 terminal input,

3-8 reserved). The corresponding

hardware tool I/O input is 1-2

Tool IO output

byte

8

8

1416-1423

Tool digital output (1-2 terminal output,

3-8 reserved). Corresponding hardware

tool I/O digital output 1-2

Tool analog input

float

2

16

1424-1431

Tool end voltage analog input. The value ranges

from 0V to 10V

Tool analog output

float

2

16

1432-1439

reserve

Tool button status

byte

2

2

1440-1441

A byte represents a bool quantity. True=1,false=0.

Address 1440 indicates the state of the S key,

and address 1441 indicates the state of the T key.

reserve

byte

6

6

1442-1447

Robot operation

mode

char

1

1

1448

0:kManual, 1:kAuto,2:kRemote,

Robot state

char

1

1

1449

0:SR_Start,1:SR_Initialize,2:SR_Logout,

3:SR_Login,4:SR_PowerOff,5:SR_Disable/ SR _

PowerOn(Power-on disabled state)6:SR_Enable

Robot program

running status

char

1

1

1450

0:SP_Stopped,1:SP_Stopping,2:SP_Running,

3:SP_Paused,4:SP_Pausing 5P:SP_TaskRunning

Safety

monitoring status

char

1

1

1451

0:SS_INIT2:SS_WAIT3:SS_CONFIG

4:SS_POWER_OFF5:SS_RUN6:SS_RECOVERY

7:SS_STOP28:SS_STOP19:SS_STOP0

10:SS_MODEL12:SS_REDUCE13:SS_BOOT

14:SS_FAIL15:SS_UPDATE

Collision

detection

trigger signal

char

1

1

1452

1 indicates that collision detection is triggered

Collision axis

char

1

1

1453

The return value is a number. 1 to 6 indicates

the joint in which the collision occurred,

and 11 to 16 indicates the direction in which

the collision occurred based on the base force sensor

. The order X, Y, Z,Rx,Ry, Rz.20 indicates that

a collision occurs based on the end force sensor

reserve

byte

2

2

1454-1455

Robot error code

uint

1

4

1456-1459

The latest error code reported by the robot.

When multiple errors occur at the same time,

any of the error codes may be returned

reserve

byte

8

8

1460-1467