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 | - | - |