JAKA TCP/IP Control Protocol
- Document Description
- Version Description
- Framework Basics
- Ports 10000 and 10004 settings
- Instruction interface introduction
- Basic robot operations
- Turn on power
- Turn off power
- Enable robot
- Disable robot
- Shut down the robot and controller
- Robot State
- Get controller version
- Get robot installation angle
- Set robot installation angle
- Set robot manual/automatic mode
- Get robot manual/automatic mode
- Set robot vibration suppression mode
- Enable vibration suppression settings
- Disable vibration suppression settings
- Robotic arm motion related
- JOG Command
- Joint moves to the specified position MoveJ
- TCP endpoint moves to the specified position.
- Linear Motion MoveL
- Arc Motion MoveC
- Query Motion Status
- Get robot DH parameters
- Get user coordinate system information
- Set Sensor Coordinates
- Get current user coordinate system information
- Select user coordinate system
- Get current user coordinate system
- Select tool coordinate system
- Get the current tool coordinate system
- Set Sensor Coordinates
- Get tool coordinate system information
- Get current coordinate system information
- Set load
- Get load
- Get joint positions
- Get current actual joint positions
- Get end pose under the current coordinate system
- Get the current actual Cartesian pose
- Set the robot speed multiplier
- Get the current rate
- Check if it is in soft limit
- Check emergency stop status
- Set motion planner
- Servo related
- IO settings related
- Set the value of a digital output variable (DO)
- Get the value of a digital output variable (DO)
- Get the status of a specified digital input
- Get the status of all digital inputs
- Set the value of an analog output variable (AO)
- Get the value of an analog output variable (AO)
- Get the status of the Extended IO
- Get the status of function input pins
- TIO related
- Set TIO V3 tool voltage
- Get TIO V3 tool voltage
- Add or modify signal
- Get RS485 signal list
- Delete semaphore
- Set TIO mode
- Get TIO mode
- Set RS485 communication parameters
- Get RS485 communication parameters
- Configure RS485 communication mode
- Get RS485 communication mode
- Send command via RS485
- Get semaphore
- Program related
- Robot arm safety status related
- Robot arm kinematics related
- Trajectory Related
- Set trajectory acquisition parameters
- Get trajectory acquisition parameters
- Set trajectory acquisition switch
- Get trajectory acquisition switch status
- Query file names of already existing trajectory reproduction data in the controller
- Rename file names of trajectory reproduction data
- Delete trajectory
- Generate controller execution script from trajectory reproduction data files in the controller
- Force control related
- Get force sensor information
- Set sensor soft limit rules
- Get sensor soft limit rules
- Set end force sensor model
- Get end force sensor model
- Start identifying sensor end load
- Get sensor end load identification status
- Get sensor end load identification result
- Set sensor end load
- Get sensor end load
- Set Sensor Coordinates
- Set Sensor Coordinates
- Set force compliance control parameters
- Get force compliance control parameters
- Enable or disable end force sensor
- Enable or disable tool dragging
- Obtain force control type and reading display (initialization) status
- Set force control type and zero calibration (initialization) options
- Get the end force sensor operating status
- Set end force sensor communication parameters
- Get end force sensor communication parameters
- Set end force sensor low-pass filter cutoff frequency
- Get end force sensor low-pass filter cutoff frequency
- Constant Force Compliant Control
- Set speed compliance control parameters
- Set speed compliance control force condition
- Set end force sensor soft limit
- Get end force sensor soft limit
- Set torque reference center
- Get torque reference center
- Set end sensor sensitivity
- Get end sensor sensitivity
- Set fusion drag sensitivity
- Get fusion drag sensitivity
- Set motion restriction (singularity and joint limit) warning range
- Get motion restriction (singularity and joint limit) warning range
- Get sensor data
- To zero the sensor.
- Set torque termination conditions
- Set torque speed limit
- Get torque speed limit
- Set force control drag feel parameters
- Get tool dragging parameters
- Activate/Deactivate Constant Force Compliant Control
- Set constant-force compliance control parameters
- Get constant-force compliance control parameters
- Set constant-force compliance control coordinate system
- Get constant-force compliance control coordinate system
- Set tool drag coordinate system
- Get tool drag coordinate system
- Set constant-force control tolerance
- Get constant-force control tolerance
- Set approach speed
- Get approach speed
- Obtain the force control tool drag enable status
- Get constant-force compliance enable status
- Troubleshooting
- User feedback