Command List
The commands available through IndyDCP are summarized in the table below.
- Command ID: The 4-byte integer value assigned to the command in the dedicated communication frame
- Command: the name of the command
- Command Content: A brief description of the command. Commands can be categorized into robot configuration, robot control, and robot data request.
- Size of request/response data: Indicates the size of data required for the command's request and the size of data obtained upon response. For commands 0510, 0511, and 0512, the size varies, while for others, the size is fixed.
Reference
- DOF (Degree-of-Freedom) represents the number of freedoms a robot has. Indy7 is a 6-axis robot, so its DOF=6, whereas IndyRP2 is a 7-axis robot, so its DOF=7.
- For example, when using the Indy7, the request data size for command 0009 is 6*8=48 bytes
- Boolean is 1-byte, Interger is 4-byte, Float is 8-byte.
| Command ID | Command | Command Content (Robot configuration / Robot control / Robot data request etc.) |
Size of Request Data | Size of Response Data |
|---|---|---|---|---|
| 0000 | Check Command | Exchanging requests/responses without commands | 0 | 0 |
| 0001 | Emergency Stop | Emergency stop of the robot (immediate stop upon receiving the command) | 0 | 0 |
| 0002 | Reset Robot | Reset Robot | 0 | 0 |
| 0003 | Set Servo On/Off | Turning on/off the servo motors of each joint of the robot | DOF*1 | 0 |
| 0004 | Set Brake On/Off | Turning the servo brake of each joint of the robot on/off | DOF*1 | 10 |
| 0005 | Stop | Stop Robot Motion (Stops the robot if it is moving) | 0 | 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 | Moving the robot to specific joint coordinates (absolute) | DOF*8 | 0 |
| 0010 | Joint Move By | Moving the robot to specific joint coordinates (relative) | DOF*8 | 0 |
| 0011 | Task Move To | Moving the robot to specific Task coordinates (absolute) | 48 | 0 |
| 0012 | Task Move By | Moving the robot to specific Task coordinates (relative) | 48 | 0 |
| 0014 | Start Current Program |
Start the currently loaded program | 0 | 0 |
| 0015 | Pause Current Program |
Pause the currently Playing program | 0 | 0 |
| 0016 | Resume Current Program | Resume the currently Paused program | 0 | 0 |
| 0017 | Stop Current Program | Stop Current Program | 0 | 0 |
| 0030 | Is Robot Running | The robot is in running state | 0 | 1 |
| 0031 | Is Robot Ready | The robot is in a controllable state (All Servo is On and Initialized) |
0 | 1 |
| 0032 | Is Emergency Stopped | The robot is in emergency state | 0 | 1 |
| 0033 | Is Collided | The robot is in collision state | 0 | 1 |
| 0034 | Is Error State | The robot is in error state | 0 | 1 |
| 0035 | Is Busy | The robot is in motion | 0 | 1 |
| 0036 | Is Move Finished | The robot is in finished motion state | 0 | 1 |
| 0037 | Is Home | The robot is in home position | 0 | 1 |
| 0038 | Is Zero | The robot is in zero position | 0 | 1 |
| 0039 | Is In Resetting | The robot is in resetting state | 0 | 1 |
| 0060 | Is Direct Teaching Mode | The robot is in direct teaching state | 0 | 1 |
| 0061 | Is Teaching Mode | The robot is in teaching state (direct teaching, Jogging) | 0 | 1 |
| 0062 | Is Program Running | The robot is in program running state (including both running and paused states) | 0 | 1 |
| 0063 | Is Program Paused | The robot is in paused state | 0 | 1 |
| 0080 | Change To Direct Teaching Mode | Start direct teaching mode | 0 | 0 |
| 0081 | Finish Direct Teaching Mode | Stop direct teaching mode | 0 | 0 |
| 0090 | Add Joint Waypoint to the End of Set | Add Joint Waypoint to the End of Set | DOF*8 | 0 |
| 0091 | Remove Last Joint Waypoint from the Set | Remove Last Joint Waypoint from the Set | 0 | 0 |
| 0092 | Clear Joint Waypoint Set | Clear Joint Waypoint Set | 0 | 0 |
| 0094 | Execute Joint Waypoint Set | Executing JointMove as a JointMove Waypoint Set | 0 | 0 |
| 0095 | Add Task Waypoint to the End of Set | Add Task Waypoint to the End of Set | 48 | 0 |
| 0096 | Remove Last Task Waypoint from the Set | Remove Last Task Waypoint from the Set | 0 | 0 |
| 0097 | Clear Task Waypoint Set | Clear Task Waypoint Set | 0 | 0 |
| 0099 | Execute Task Waypoint Set | Executing TaskMove as a TaskMove Waypoint Set | 0 | 0 |
| 0100 | Set Default TCP | Set default TCP values (resetting calibration values) |
48 | 0 |
| 0101 | Reset Default TCP | Reset Default TCP values (resetting calibration values) |
0 | 0 |
| 0104 | Set Reference Frame | - | 48 | 0 |
| 0105 | Reset Referene Frame | Reset Reference Frame values | 0 | 0 |
| 0106 | Set Collision Level | Set Collision Level (1-5) | 4 | 0 |
| 0107 | Set Joint Boundary Level | Set JointMove velocity and acceleration level (1-9) | 4 | 0 |
| 0108 | Set Task Boundary Level | Set TaskMove velocity and acceleration level (1-9) | 4 | 0 |
| 0109 | Set Joint Blending Radius Level | Set JointMove bleding radius level | 4 | 0 |
| 0110 | Set Task Blending Radius Level | Set TaskMove bleding radius level | 4 | 0 |
| 0111 | Set Joint Waypoint Time | Set JointMove wapoint time (applies only to time-based Move) |
8 | 0 |
| 0112 | Set Task Waypoint Time | Set task move waypoint time (applies only to time-based Move) |
8 | 0 |
| 0113 | Set TaskMove Base Mode | Set reference axis of TaskMove control (0 : reference body / 1: end point of ToolTi) |
4 | 0 |
| 0116 | Set Joint Blending Radius | Set Joint Blending Radius | 8 | 0 |
| 0117 | Set Task Blending Radius | Set Task Blending Radius | 8 | 0 |
| 0118 | Set Joint Blending Type | Set Joint Blending Type (0 : no blending, 1 : override, 2: duplicate) |
4 | 0 |
| 0119 | Set Task Blending Type | Set Task Blending Type (0 : no blending, 1 : override, 2: duplicate) |
4 | 0 |
| 0200 | Get Default TCP | Request Default TCP | 0 | 48 |
| 0201 | Get TCP Comp | Request TCP Comp | 0 | 48 |
| 0202 | Get Reference Frame | Request Reference Frame | 0 | 48 |
| 0203 | Get Collision Level | Request Collision Level | 0 | 4 |
| 0204 | Get Joint Boundary Level | Request JointMotion's vel/acc level | 0 | 4 |
| 0205 | Get Task Boundary Level | Request TaskMotion's vel/acc 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 | 0 | 4 |
| 0213 | Get Joint Blending Radius | Request Joint Blending Radius | 0 | 8 |
| 0214 | Get Task Blending Radius | Request Task Blending Radius | 0 | 8 |
| 0300 | Get Running Time | Request total uptime after robot initialization | 0 | 8 |
| 0301 | Get Control Mode | Request current Control Mode | 0 | 4 |
| 0302 | Get Joint Servo State | Request Servo, Brake state on each joint | 0 | DOF*2 |
| 0320 | Get Joint Position | Request current joint angle positions of the robot | 0 | DOF*8 |
| 0321 | Get Joint Velocity | Request current joint velocity of the robot | 0 | DOF*8 |
| 0322 | Get Task Position | Request current task positions of the robot | 0 | 48 |
| 0323 | Get Task Velocity | Request current task velocity of the robot | 0 | 48 |
| 0324 | Get Torque | Request current torque of the robot | 0 | DOF*8 |
| 0325 | Get Inverse Kinematics | Request Inverse Kinematics of the Position | DOF*2*8 | DOF*8 |
| 0380 | Get Last Emergency Info | Request The Last Emergency Infomation | 0 | 40 |
| 0400 | Get Smart Digital Input | Read SmartDI value | 4 | 1 |
| 0401 | Get Smart Digital Inputs | Read All SmatDI's value | 0 | 32 |
| 0402 | Set Smart Digital Output | Write SmartDO value | 5 | 0 |
| 0403 | Set Smart Digital Outputs | Write All SmartDO's value | 32 | 0 |
| 0404 | Get Smart Analog Input | Read SmartAI value | 4 | 4 |
| 0405 | Set Smart Analog Output | Write SmartAO value | 8 | 0 |
| 0406 | Get Smart Digital Output | Read SmartDO value | 4 | 1 |
| 0407 | Get Smart Digital Outputs | Read All SmartDO value | 0 | 32 |
| 0408 | Get Smart Analog Output | Read SmartAO value | 4 | 4 |
| 0409 | Set End tool Digital Output | Write Robot's EndtoolDO value | 5 | 0 |
| 0410 | Get End tool Digital Outputs | Read Robot's EndtoolDO value | 4 | 1 |
| 0411 | Get Endtool DI | Read Robot's EndtoolDI value | 4 | 1 |
| 0414 | Get Endtool AI | Read Robot's EndtoolAI value | 4 | 1 |
| 0421 | Get Robot CAN FTSensor (T) | Receive transformed data of FTSensor connected to Robot's CAN port | 0 | 48 |
| 0423 | Get CB CAN FTSensor (T) | Receive transformed data of FTSensor connected to CB's CAN port | 0 | 48 |
| 0500 | Start TeleOperation | Start TeleOperation Mode | 4 | 0 |
| 0501 | Stop TeleOperation | Stop TeleOperation Mode | 0 | 0 |
| 0502 | Tele MoveJ | Moving the robot to specific joint coordinates (TeleOperation) | DOF*8 | 0 |
| 0503 | Tele MoveL | Moving the robot to specific task coordinates (TeleOperation) | 48 | 0 |
| 0510 | Get Int Variable | Read a Int variable value | 4 | 4 |
| 0511 | Get Float Variable | Read a Float variable value | 4 | 8 |
| 0512 | Get Boolean Variable | Read a Boolean variable value | 4 | 1 |
| 0535 | Move C | Move robot circle using via-point and end-point | 96 | 0 |
| 0536 | Set MoveC Angle | set Angle of MoveC motion | 4 | 0 |
| 0537 | Set MoveC Vel | Set velocity of MoveC velocity(0-1) | 4 | 0 |
| 0538 | Set MoveC Acc | Set Acceleration of Move Acceleration(0-1) | 4 | 0 |
| 0670 | Active SDK | Register license (License Key : 64, Expiry Date : 10(e.g., 2024-06-04)) |
148 | 0 |
