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›Commands

Commands

  • Introduction
  • JSON format
  • Messages
  • Order of commands
  • Joint move
  • Rapid move
  • Line move
  • Circle move
  • Halt
  • Alarm
  • Sleep
  • Input
  • Probe
  • Output
  • PWM
  • ADC
  • Joint
  • Motor
  • Tool length
  • Version

Input

{"cmd":"input", ...}

This command will read the value of all the input pins. The command by default will report the input values immediately. However, by setting the queue value to 0, the user can send the command to the normal priority queue, where the input values will be reported after all other commands before it are concluded.

Key, value pairs

KeyValueRequiredDescription
"cmd""input"YesRead input values.
"id"Int (>0)NoId can be any positive integer. If id is not provided, status of the command will not be returned from the controller.
"queue"0 / 1NoIf the value is 0, the command will be submitted to the normal priority queue. Otherwise, it will be submitted to the high priority queue. The default value 1.

Response

KeyValueDescription
"cmd""input"The response of an input command will be a message with cmd field set to input.
"id"Int (>0)Same id as the original input command.
"in0", "in1", …, "in15"0 / 1The value of each input.

Example

{"cmd":"input", "id":5}

This command will read the input values and will respond with a message as follows which specifies the current value of each input pin.

{"cmd":"input", "id":5, "in0":0 , "in1":0 , "in2":1 , "in3":1 , "in4": 0 , "in5":0 , "in6":1 , "in7":0 , "in8":1 , "in9":0 , "in10":1 , "in11":0 , "in12":1 , "in13":0 , "in14":0 , "in15":0}

Error codes

StatValue
-300Halt already in process
-400Alarm activated
Last updated on 7/12/2022
← SleepProbe →
  • Key, value pairs
  • Response
  • Example
  • Error codes
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