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Command List

Commands that can be used in IndyDCP are summarized in the table below.

  • Command ID: 4-bytes integer value assigned to each command.
  • Command: the name of the command
  • Description: description about the command. The commands can be classified into robot setting, robot control, and robot data request.
  • Request/Response data size: the size of the requested data and the size of the data received in response to the request of each command. The size is variable only in the case of string data like command 0006, and is otherwise determined.

Note

  • DOF represents robot's Degree-of-Freedom. Indy7 has 6 joints, so DOF=6, and IndyRP2 has 7 joints, so DOF=7.
  • For example, the request data size of command 0009 when using Indy7 is 6*8=48.
  • Boolean number uses 1 Byte Integer, integer number uses 4 Byte integer, and real number uses 8 Byte Floating Point (Double).

Command ID Command Description
(Robot setting / Robot control / Robot data)
Request Data Size Response Data Size
0000 Check Command Sending and receiving request/response without command 0 0
0001 Emergency Stop Robot stops immediately upon receipt of command 0 0
0002 Reset Robot - 0 0
0003 Set Servo On/Off Servo Motor On / Off of each Joints DOF*1 0
0004 Set Brake On/Off Servo Brake On / Off each Joint DOF*1 0
0005 Stop Stop robot motion in case of moving 0 0
0006 Execute
Move Command
Execute the move command taught by Conty Variable 0
0007 Move To Home Move to Home Position 0 0
0008 Move To Zero Move to Zero Position 0 0
0009 Joint Move To Move robot to absloute joint-space target DOF*8 0
0010 Joint Move By Move robot from current position to relative joint-space target DOF*8 0
0011 Task Move To Move robot to absolute cartesian-space target 48 0
0012 Task Move By Move robot from current position to relative cartesian-space target 48 0
0014 Start
Current Program
Execute loaded program 0 0
0015 Pause
Current Program
- 0 0
0016 Resume Current Program - 0 0
0017 Stop Current Program - 0 0
0018 Start Registered
Default Program
- 0 0
0019 Register Default Program #Num Register Default Program number 1~10 4 0
0020 Get Registered
Default Program #Num
Request currently registered default program number 0 4
0030 Is Robot Running Check the robot is in-motion status 0 1
0031 Is Robot Ready Robot is ready
(All servo on, initialization complete)
0 1
0032 Is Emergency Stopped Robot is stopped due to emergency cases 0 1
0033 Is Collided Collision is detected 0 1
0034 Is Error State Robot is in error state 0 1
0036 Is Move Finished Robot finishes its motion 0 1
0035 Is Busy Robot is moving (in motion) 0 1
0037 Is Home Robot is in home position 0 1
0038 Is Zero Robot is in zero position 0 1
0039 Is In Resetting Robot is in reset process 0 1
0060 Is Direct Teaching Mode Robot is in direct teaching mode 0 1
0061 Is Teaching Mode Robot is in teaching mode (e.g. Direct Teaching, Jogging, etc.) 0 1
0062 Is Program Running Robot program is running (including running and paused) 0 1
0063 Is Program Paused Robot program is paused 0 1
0064 Is Conty Connected - 0 1
0080 Change To Direct Teaching Mode - 0 0
0081 Finish Direct Teaching Mode - 0 0
0090 Add Joint Waypoint to the End of Set Add a waypoint at the end of the JointMove waypoint set DOF*8 0
0091 Remove Last Joint Waypoint from the Set Remove a waypoint at the end of the JointMove waypoint set 0 0
0092 Clear Joint Waypoint Set Initialize JointMove waypoint set 0 0
0094 Execute Joint Waypoint Set Execute JointMove waypoint set as JointMove 0 0
0095 Add Task Waypoint to the End of Set Add a waypoint at the end of TaskMove waypoint set 48 0
0096 Remove Last Task Waypoint from the Set Remove a waypoint at the end of TaskMove waypoint set 0 0
0097 Clear Task Waypoint Set Initialize TaskMove waypoint set 0 0
0099 Execute Task Waypoint Set Execute TaskMove waypoint set as TaskMove 0 0
0100 Set Default TCP Set default TCP value
(Compensation value will be reset)
48 0
0101 Reset Default TCP Reset default TCP value
(Compensation value will be reset)
0 0
0102 Set TCP Comp. Set TCP compensation value 48 0
0103 Reset TCP Comp. Reset TCP compensation value 0 0
0104 Set Reference Frame - 48 0
0105 Reset Referene Frame - 0 0
0106 Set Collision Level Set collision detection level (1~5) 4 0
0107 Set Joint Boundary Level Set boundary level of JointMove velocity / acceleration (1~9) 4 0
0108 Set Task Boundary Level Set boundary level of TaskMove velocity / acceleration (1~9) 4 0
0109 Set Joint Blending Radius Level Set JointMove blending radius level 4 0
0110 Set Task Blending Radius Level Set TaskMove blending radius level 4 0
0111 Set Joint Waypoint Time Set JointMove waypoint time
(applied only for time base move)
8 0
0112 Set Task Waypoint Time Set TaskMove waypoint time
(applied only for time base Move)
8 0
0113 Set TaskMove Base Mode Set reference axis of TaskMove control
(0 : reference body / 1: end point of ToolTip)
4 0
0116 Set Joint Blending Radius Set JointMove blending radius 8 0
0117 Set Task Blending Radius Set TaskMove blending radius 8 0
0200 Get Default TCP Request default TCP value 0 48
0201 Get TCP Comp. Request TCP compensation value 0 48
0202 Get Reference Frame Request reference frame value 0 48
0203 Get Collision Level Request collision detection level 0 4
0204 Get Joint Boundary Level Request boundary level of JointMove velocity / acceleration 0 4
0205 Get Task Boundary Level Request boundary level of TaskMove velocity / acceleration 0 4
0206 Get Joint Blending Radius Level Request JointMove blending radius level 0 4
0207 Get Task Blending Radius Level Request TaskMove blending radius level 0 4
0208 Get Joint Waypoint Time Request JointMove waypoint time 0 8
0209 Get Task Waypoint Time Request TaskMove waypoint time 0 8
0210 Get TaskMove Base Mode Request reference axis of TaskMove control 0 4
0213 Get Joint Blending Radius Request JointMove blending radius 0 8
0214 Get Task Blending Radius Request TaskMove blending radius 0 8
0300 Get Running Time Request total running time after robot initialization 0 8
0302 Get Joint Servo State Request servo, brake state on each joint 0 DOF*2
0301 Get Control Mode Request current control mode 0 4
0320 Get Joint Position Request current joint position 0 DOF*8
0321 Get Joint Velocity Request current joint velocity 0 DOF*8
0324 Get Torque Request current joint torque 0 DOF*8
0322 Get Task Position Request current task position 0 48
0323 Get Task Velocity Request robot's current Task velocity 0 48
0380 Get Last Emergency Info Request last emergency information 0 40
0400 Get Smart Digital Input Read a SmartDI value 4 1
0401 Get Smart Digital Inputs Read all SmartDI values 0 32
0402 Set Smart Digital Output Write a SmartDO value 5 0
0403 Set Smart Digital Outputs Write all SmartDO value 32 0
0404 Get Smart Analog Input Read a SmartAI value 4 4
0405 Set Smart Analog Output Write a SmartAO value 8 0
0406 Get Smart Digital Output Read a SmartDO value 4 1
0407 Get Smart Digital Outputs Read all SmatDO value 0 32
0420 Get Robot CAN FTSensor (R) Receive FTSensor raw data connected to Robot's CAN port 0 24
0421 Get Robot CAN FTSensor (T) Receive transformed data of FTSensor connected to Robot's CAN port 0 48
0422 Get CB CAN FTSensor (R) Receive FTSensor raw data connected to CB's CAN port 0 24
0423 Get CB CAN FTSensor (T) Receive transformed data of FTSensor connected to CB's CAN port 0 48
0460 Read Direct Variable Read a direct variable value 8 variable
0461 Read Direct Variables Read continuous direct variable values (Max: 20) 12 variable
0462 Write Direct Variable Write a direct variable value 8+(variable) 0
0463 Write Direct Variables Write continuous direct variable values (Max: 20) 12+(variable) 0
0800 ExtendedIndyDCP Use extended IndyDCP 8 8
0801 StreamingIndyDCP Command to start IndyDCP in streaming - -