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basically done

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gitea
2025-03-27 19:05:02 +08:00
parent 09d322378a
commit 957071075d
110 changed files with 2180 additions and 1797 deletions
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1
assets/files/protocols/ec/motor_off.txt Normal file
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motor_off

1
assets/files/protocols/ec/motor_on.txt Normal file
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motor_on

1
assets/files/protocols/ec/motor_on_state.txt Normal file
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@ -0,0 +1 @@
motor_on_state

1
assets/files/protocols/ec/operating_mode.txt Normal file
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@ -0,0 +1 @@
operating_mode

1
assets/files/protocols/ec/robot_running_state.txt Normal file
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@ -0,0 +1 @@
robot_running_state

1
assets/files/protocols/ec/set_do.txt Normal file
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set_do:DO4_0,true

1
assets/files/protocols/ec/switch_mode_auto.txt Normal file
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@ -0,0 +1 @@
switch_mode:auto

1
assets/files/protocols/ec/switch_mode_manual.txt Normal file
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@ -0,0 +1 @@
switch_mode:manual

3
assets/files/protocols/hmi/collision.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.get_params"
"command": "collision.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/collision.set_params.json
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@ -2,5 +2,6 @@
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.set_params",
"data": null
"data": null,
"p_type": 0
}

3
assets/files/protocols/hmi/collision.set_state.json
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@ -3,5 +3,6 @@
"command": "collision.set_state",
"data": {
"collision_state": false
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/controller.get_params.json
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@ -1,5 +1,6 @@
{
"id":"xxxxxxxxxxx",
"module":"system",
"command":"controller.get_params"
"command":"controller.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/controller.heart.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.heart"
"command": "controller.heart",
"p_type": 0
}

3
assets/files/protocols/hmi/controller.reboot.json
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@ -4,5 +4,6 @@
"command": "controller.reboot",
"data": {
"arg": 6
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/controller.set_params.json
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@ -4,5 +4,6 @@
"command": "controller.set_params",
"data": {
"time": "2020-02-28 15:28:30"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/device.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "device.get_params"
"command": "device.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/diagnosis.get_params.json
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@ -4,5 +4,6 @@
"command": "diagnosis.get_params",
"data": {
"version": "1.4.1"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/diagnosis.open.json
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@ -8,5 +8,6 @@
"overrun": false,
"turn_area": false,
"delay_motion": false
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/diagnosis.save.json
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@ -4,5 +4,6 @@
"command": "diagnosis.save",
"data": {
"save": true
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/diagnosis.set_params.json
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@ -6,5 +6,6 @@
"display_pdo_params": [],
"frequency": 50,
"version": "1.4.1"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/drag.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "dynamic",
"command": "drag.get_params"
"command": "drag.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/drag.set_params.json
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@ -6,5 +6,6 @@
"enable": true,
"space": 0,
"type": 0
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/fieldbus_device.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "fieldbus_device.get_params"
"command": "fieldbus_device.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/fieldbus_device.load_cfg.json
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@ -4,5 +4,6 @@
"command": "fieldbus_device.load_cfg",
"data": {
"file_name": "fieldbus_device.json"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/fieldbus_device.set_params.json
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@ -5,5 +5,6 @@
"data": {
"device_name": "modbus_1",
"enable": true
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/io_device.load_cfg.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "io_device.load_cfg"
"command": "io_device.load_cfg",
"p_type": 0
}

3
assets/files/protocols/hmi/jog.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.get_params"
"command": "jog.get_params",
"p_type": 0
}

6
assets/files/protocols/hmi/log_code.data.json
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@ -1,5 +1,7 @@
{
"g": {
"id": "xxxxxxxxxxx",
"g": {
"log_code.data": "null"
}
},
"p_type": 1
}

3
assets/files/protocols/hmi/modbus.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "fieldbus",
"command": "modbus.get_params"
"command": "modbus.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/modbus.get_values.json
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@ -4,5 +4,6 @@
"command": "modbus.get_values",
"data": {
"mode": "all"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/modbus.load_cfg.json
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@ -4,5 +4,6 @@
"command": "modbus.load_cfg",
"data": {
"file" : "registers.json"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/modbus.set_params.json
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@ -8,5 +8,6 @@
"port": 502,
"slave_id": 0,
"enable_master": false
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/move.get_joint_pos.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_joint_pos"
"command": "move.get_joint_pos",
"p_type": 0
}

3
assets/files/protocols/hmi/move.get_monitor_cfg.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_monitor_cfg"
"command": "move.get_monitor_cfg",
"p_type": 0
}

3
assets/files/protocols/hmi/move.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_params"
"command": "move.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/move.get_pos.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_pos"
"command": "move.get_pos",
"p_type": 0
}

3
assets/files/protocols/hmi/move.get_quickstop_distance.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_quickstop_distance"
"command": "move.get_quickstop_distance",
"p_type": 0
}

3
assets/files/protocols/hmi/move.get_quickturn_pos.json
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@ -1,5 +1,6 @@
{
"id" : "xxxxxxxxx",
"module": "motion",
"command": "move.get_quickturn_pos"
"command": "move.get_quickturn_pos",
"p_type": 0
}

3
assets/files/protocols/hmi/move.quick_turn.json
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@ -4,5 +4,6 @@
"command": "move.quick_turn",
"data": {
"name":"home"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/move.set_monitor_cfg.json
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@ -4,5 +4,6 @@
"command": "move.set_monitor_cfg",
"data": {
"ref_coordinate": 1
}
},
"p_type": 0
}

4
assets/files/protocols/hmi/move.set_params.json
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@ -12,6 +12,6 @@
"VEL_SMOOTH_FACTOR": 3.33,
"ACC_RAMPTIME_JOG": 0.01
}
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/move.set_quickstop_distance.json
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@ -4,5 +4,6 @@
"command": "move.set_quickstop_distance",
"data":{
"distance": 2
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/move.set_quickturn_pos.json
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@ -11,5 +11,6 @@
"joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"end_posture": 0,
"home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/move.stop.json
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@ -4,5 +4,6 @@
"command": "move.stop",
"data":{
"stoptype": 0
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/overview.get_autoload.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "overview.get_autoload"
"command": "overview.get_autoload",
"p_type": 0
}

3
assets/files/protocols/hmi/overview.get_cur_prj.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "project",
"command": "overview.get_cur_prj"
"command": "overview.get_cur_prj",
"p_type": 0
}

3
assets/files/protocols/hmi/overview.reload.json
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@ -5,5 +5,6 @@
"data": {
"prj_path": "",
"tasks": []
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/overview.set_autoload.json
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@ -4,5 +4,6 @@
"command": "overview.set_autoload",
"data": {
"autoload_prj_path": ""
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/register.set_value.json
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@ -7,5 +7,6 @@
"type": "bool",
"bias": 0,
"value": 0
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/rl_task.pp_to_main.json
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@ -4,5 +4,6 @@
"command": "rl_task.pp_to_main",
"data": {
"tasks": []
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/rl_task.run.json
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@ -4,5 +4,6 @@
"command": "rl_task.run",
"data": {
"tasks": []
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/rl_task.set_run_params.json
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@ -5,5 +5,6 @@
"data": {
"loop_mode": true,
"override": 1.0
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/rl_task.stop.json
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@ -4,5 +4,6 @@
"command": "rl_task.stop",
"data": {
"tasks": []
}
},
"p_type": 0
}

6
assets/files/protocols/hmi/safety.safety_area.overall_enable.json
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@ -1,7 +1,9 @@
{
"c": {
"id": "xxxxxxxxxxx",
"c": {
"safety.safety_area.overall_enable": {
"enable": true
}
}
},
"p_type": 1
}

6
assets/files/protocols/hmi/safety.safety_area.safety_area_enable.json
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@ -1,8 +1,10 @@
{
"c": {
"id": "xxxxxxxxxxx",
"c": {
"safety.safety_area.safety_area_enable": {
"id": 0,
"enable": true
}
}
},
"p_type": 1
}

6
assets/files/protocols/hmi/safety.safety_area.set_param.json
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@ -1,5 +1,7 @@
{
"c": {
"id": "xxxxxxxxxxx",
"c": {
"safety.safety_area.set_param": null
}
},
"p_type": 1
}

6
assets/files/protocols/hmi/safety.safety_area.signal_enable.json
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@ -1,7 +1,9 @@
{
"c": {
"id": "xxxxxxxxxxx",
"c": {
"safety.safety_area.signal_enable": {
"signal": true
}
}
},
"p_type": 1
}

6
assets/files/protocols/hmi/safety_area_data.json
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@ -1,5 +1,7 @@
{
"g": {
"id": "xxxxxxxxxxx",
"g": {
"safety_area_data": null
}
},
"p_type": 1
}

3
assets/files/protocols/hmi/servo.clear_alarm.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "servo.clear_alarm"
"command": "servo.clear_alarm",
"p_type": 0
}

3
assets/files/protocols/hmi/socket.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "network",
"command": "socket.get_params"
"command": "socket.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/socket.set_params.json
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@ -13,5 +13,6 @@
"auto_connect": true,
"disconnection_triggering_behavior": 0,
"disconnection_detection_time": 10
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/soft_limit.get_params.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "soft_limit.get_params"
"command": "soft_limit.get_params",
"p_type": 0
}

3
assets/files/protocols/hmi/soft_limit.set_params.json
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@ -8,5 +8,6 @@
"lower": [0,0,0,0,0,0,0],
"reduced_upper": [0,0,0,0,0,0,0],
"reduced_lower": [0,0,0,0,0,0,0]
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/state.get_state.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.get_state"
"command": "state.get_state",
"p_type": 0
}

3
assets/files/protocols/hmi/state.get_tp_mode.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.get_tp_mode"
"command": "state.get_tp_mode",
"p_type": 0
}

3
assets/files/protocols/hmi/state.set_tp_mode.json
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@ -4,5 +4,6 @@
"command": "state.set_tp_mode",
"data": {
"tp_mode": "with"
}
},
"p_type": 0
}

3
assets/files/protocols/hmi/state.switch_auto.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_auto"
"command": "state.switch_auto",
"p_type": 0
}

3
assets/files/protocols/hmi/state.switch_manual.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_manual"
"command": "state.switch_manual",
"p_type": 0
}

3
assets/files/protocols/hmi/state.switch_motor_off.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_motor_off"
"command": "state.switch_motor_off",
"p_type": 0
}

3
assets/files/protocols/hmi/state.switch_motor_on.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_motor_on"
"command": "state.switch_motor_on",
"p_type": 0
}

3
assets/files/protocols/hmi/system_io.query_configuration.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_configuration"
"command": "system_io.query_configuration",
"p_type": 0
}

3
assets/files/protocols/hmi/system_io.query_event_cfg.json
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@ -1,5 +1,6 @@
{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_event_cfg"
"command": "system_io.query_event_cfg",
"p_type": 0
}

3
assets/files/protocols/hmi/system_io.update_configuration.json
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@ -5,5 +5,6 @@
"data": {
"input_system_io": {},
"output_system_io": {}
}
},
"p_type": 0
}

3
assets/files/protocols/md/ctrl_estop_reset_clear_alarm.txt Normal file
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@ -0,0 +1,3 @@
40002: 0
40002: 1
40002: 0

3
assets/files/protocols/md/ctrl_motor_off.txt Normal file
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@ -0,0 +1,3 @@
40003: 0
40003: 1
40003: 0

3
assets/files/protocols/md/ctrl_motor_on.txt Normal file
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@ -0,0 +1,3 @@
40004: 0
40004: 1
40004: 0

1
assets/files/protocols/md/ctrl_soft_estop.txt Normal file
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@ -0,0 +1 @@
40012: 1

1
assets/files/protocols/md/sta_alarm.txt Normal file
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@ -0,0 +1 @@
40500:1:bool

1
assets/files/protocols/md/sta_estop.txt Normal file
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@ -0,0 +1 @@
40505:1:bool

1
assets/files/protocols/md/sta_motor.txt Normal file
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@ -0,0 +1 @@
40506:1:bool

1
assets/files/protocols/md/sta_soft_estop.txt Normal file
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@ -0,0 +1 @@
40518:1:bool

0
assets/files/version/version → assets/files/version/local_vers
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1
assets/files/version/server_vers Normal file
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@ -0,0 +1 @@
0.3.1.7@03/24/2025