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gitea
2024-09-20 14:24:11 +08:00
parent 17ea63fa90
commit 35884b2247
74 changed files with 3956 additions and 163 deletions
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75
assets/configs/fieldbus_device.json Normal file
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{
"device_list": [
{
"enable": true,
"endian": 1,
"extend_attr": {
"RTU": {
"serial_name": ""
},
"TCP": {
"ip": "0.0.0.0",
"port": 502
},
"coils": {
"max_num": 16,
"start_addr": 0
},
"discrete_input": {
"max_num": 16,
"start_addr": 0
},
"hold_register": {
"max_num": 2000,
"start_addr": 40000
},
"input_register": {
"max_num": 2000,
"start_addr": 4000
},
"protol_type": "TCP",
"slaver_id": 1
},
"mode": "slaver",
"name": "autotest",
"type": "MODBUS"
}
],
"support_types": [
{
"device_type": "MODBUS",
"support_mode": {
"master": 10,
"slaver": 10
}
},
{
"device_type": "CCLINK",
"support_mode": {
"master": 0,
"slaver": 1
}
},
{
"device_type": "ETHERCAT",
"support_mode": {
"master": 0,
"slaver": 10
}
},
{
"device_type": "PROFINET",
"support_mode": {
"master": 0,
"slaver": 1
}
},
{
"device_type": "EtherNetIP",
"support_mode": {
"master": 0,
"slaver": 1
}
}
]
}

472
assets/configs/registers.json Normal file
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{
"MODBUS": [
{
"property": {
"device_name": "autotest",
"endian": 1
},
"regs": {
"rd": [
{
"addr": 40000,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_clear_alarm",
"len": 1,
"name": "r_clear_alarm",
"retain": false,
"type": "bool"
},
{
"addr": 40001,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_estop_reset",
"len": 1,
"name": "r_estop_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40002,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_estop_reset_clear_alarm",
"len": 1,
"name": "r_onekey_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40003,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motor_off",
"len": 1,
"name": "r_motor_off",
"retain": false,
"type": "bool"
},
{
"addr": 40004,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motor_on",
"len": 1,
"name": "r_motor_on",
"retain": false,
"type": "bool"
},
{
"addr": 40005,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motoron_pptomain_start",
"len": 1,
"name": "r_onekey_start",
"retain": false,
"type": "bool"
},
{
"addr": 40006,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motoron_start",
"len": 1,
"name": "r_motoron_start",
"retain": false,
"type": "bool"
},
{
"addr": 40007,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_pause_motoroff",
"len": 1,
"name": "r_pause_motoroff",
"retain": false,
"type": "bool"
},
{
"addr": 40008,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_pptomain",
"len": 1,
"name": "r_pp2main",
"retain": false,
"type": "bool"
},
{
"addr": 40009,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_program_start",
"len": 1,
"name": "r_prog_start",
"retain": false,
"type": "bool"
},
{
"addr": 40010,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_program_stop",
"len": 1,
"name": "r_prog_stop",
"retain": false,
"type": "bool"
},
{
"addr": 40011,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_reduced_mode",
"len": 1,
"name": "r_reduced_mode",
"retain": false,
"type": "bool"
},
{
"addr": 40012,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_soft_estop",
"len": 1,
"name": "r_soft_estop",
"retain": false,
"type": "bool"
},
{
"addr": 40013,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_auto_motoron",
"len": 1,
"name": "r_auto_motoron",
"retain": false,
"type": "bool"
},
{
"addr": 40014,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_operation_auto",
"len": 1,
"name": "r_switch_auto",
"retain": false,
"type": "bool"
},
{
"addr": 40015,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_operation_manu",
"len": 1,
"name": "r_switch_manual",
"retain": false,
"type": "bool"
},
{
"addr": 40016,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region01",
"len": 1,
"name": "r_safe_region01",
"retain": false,
"type": "bool"
},
{
"addr": 40017,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region02",
"len": 1,
"name": "r_safe_region02",
"retain": false,
"type": "bool"
},
{
"addr": 40018,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region03",
"len": 1,
"name": "r_safe_region03",
"retain": false,
"type": "bool"
}
],
"rdwr": [
{
"addr": 40500,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_alarm",
"len": 1,
"name": "w_alarm_state",
"retain": false,
"type": "bool"
},
{
"addr": 40501,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_collision",
"len": 1,
"name": "w_clsn_alarm_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40502,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_collision_open",
"len": 1,
"name": "w_clsn_open_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40503,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_controller_is_running",
"len": 1,
"name": "w_controller_running",
"retain": false,
"type": "bool"
},
{
"addr": 40504,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_encoder_low_battery",
"len": 1,
"name": "w_encoder_low",
"retain": false,
"type": "bool"
},
{
"addr": 40505,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_estop",
"len": 1,
"name": "w_estop_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40506,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_motor",
"len": 1,
"name": "w_motor_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40507,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_operation_mode",
"len": 1,
"name": "w_operation_mode",
"retain": false,
"type": "bool"
},
{
"addr": 40508,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program",
"len": 1,
"name": "w_prog_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40509,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program_not_run",
"len": 1,
"name": "w_prog_not_run",
"retain": false,
"type": "bool"
},
{
"addr": 40510,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program_reset",
"len": 1,
"name": "w_prog_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40511,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_reduced_mode",
"len": 1,
"name": "w_reduced_mode_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40512,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_robot_is_busy",
"len": 1,
"name": "w_robot_is_busy",
"retain": false,
"type": "bool"
},
{
"addr": 40513,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_robot_moving",
"len": 1,
"name": "w_robot_moving",
"retain": false,
"type": "bool"
},
{
"addr": 40514,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_door",
"len": 1,
"name": "w_safe_door",
"retain": false,
"type": "bool"
},
{
"addr": 40515,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region01",
"len": 1,
"name": "w_safe_region01",
"retain": false,
"type": "bool"
},
{
"addr": 40516,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region02",
"len": 1,
"name": "w_safe_region02",
"retain": false,
"type": "bool"
},
{
"addr": 40517,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region03",
"len": 1,
"name": "w_safe_region03",
"retain": false,
"type": "bool"
},
{
"addr": 40518,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_soft_estop",
"len": 1,
"name": "w_soft_estop_stat",
"retain": false,
"type": "bool"
}
]
}
}
]
}

725
assets/configs/registers.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<m>
<l>
<c name="addr" type="2" value="40000"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40000"/>
<c name="function" type="10" value="ctrl_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_clear_alarm"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40001"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40001"/>
<c name="function" type="10" value="ctrl_estop_reset"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_estop_reset"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40002"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40002"/>
<c name="function" type="10" value="ctrl_estop_reset_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_onekey_reset"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40003"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40003"/>
<c name="function" type="10" value="ctrl_motor_off"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motor_off"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40004"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40004"/>
<c name="function" type="10" value="ctrl_motor_on"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motor_on"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40005"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40005"/>
<c name="function" type="10" value="ctrl_motoron_pptomain_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_onekey_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40006"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40006"/>
<c name="function" type="10" value="ctrl_motoron_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motoron_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40007"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40007"/>
<c name="function" type="10" value="ctrl_pause_motoroff"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_pause_motoroff"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40008"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40008"/>
<c name="function" type="10" value="ctrl_pptomain"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_pp2main"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40009"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40009"/>
<c name="function" type="10" value="ctrl_program_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_prog_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40010"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40010"/>
<c name="function" type="10" value="ctrl_program_stop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_prog_stop"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40011"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40011"/>
<c name="function" type="10" value="ctrl_reduced_mode"/>
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<c name="addr" type="2" value="40500"/>
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<c name="function" type="10" value="sta_alarm"/>
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<c name="addr" type="2" value="40501"/>
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<c name="function" type="10" value="sta_collision"/>
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<c name="name" type="10" value="w_clsn_alarm_stat"/>
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<c name="function" type="10" value="sta_collision_open"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="function" type="10" value="sta_controller_is_running"/>
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<c name="name" type="10" value="w_controller_running"/>
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<c name="dev_type" type="10" value="MODBUS"/>
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<c name="function" type="10" value="sta_encoder_low_battery"/>
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<c name="end_addr" type="2" value="40509"/>
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<c name="end_addr" type="2" value="40510"/>
<c name="function" type="10" value="sta_program_reset"/>
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<c name="name" type="10" value="w_prog_reset"/>
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<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40511"/>
<c name="function" type="10" value="sta_reduced_mode"/>
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<c name="name" type="10" value="w_reduced_mode_stat"/>
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<c name="addr" type="2" value="40512"/>
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<c name="description" type="10" value=""/>
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<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40512"/>
<c name="function" type="10" value="sta_robot_is_busy"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_robot_is_busy"/>
<c name="retain" type="1" value="false"/>
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<c name="description" type="10" value=""/>
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<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40513"/>
<c name="function" type="10" value="sta_robot_moving"/>
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<c name="name" type="10" value="w_robot_moving"/>
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<c name="rw" type="10" value="rdwr"/>
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<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40514"/>
<c name="function" type="10" value="sta_safe_door"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_door"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
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<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40515"/>
<c name="function" type="10" value="sta_safe_region01"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_region01"/>
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<c name="rw" type="10" value="rdwr"/>
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<l>
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<c name="end_addr" type="2" value="40516"/>
<c name="function" type="10" value="sta_safe_region02"/>
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<c name="name" type="10" value="w_safe_region02"/>
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<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40517"/>
<c name="function" type="10" value="sta_safe_region03"/>
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<c name="name" type="10" value="w_safe_region03"/>
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<l>
<c name="addr" type="2" value="40518"/>
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<c name="end_addr" type="2" value="40518"/>
<c name="function" type="10" value="sta_soft_estop"/>
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<c name="name" type="10" value="w_soft_estop_stat"/>
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<c name="rw" type="10" value="rdwr"/>
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<c name="value"/>
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</m>

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assets/configs/系统IO功能对照表.xlsx Normal file
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assets/json/collision.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.get_params"
}

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assets/json/collision.set_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "collision.set_params",
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"enable": false,
"mode": 0,
"coeff": [0,0,0,0,0,0,0],
"coeff_level": 0,
"action": 1,
"percent": 1
}
}

7
assets/json/collision.set_state.json Normal file
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{
"module": "safety",
"command": "collision.set_state",
"data": {
"collision_state": false
}
}

5
assets/json/controller.get_params.json Normal file
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{
"id":"xxxxxxxxxxx",
"module":"system",
"command":"controller.get_params"
}

5
assets/json/controller.heart.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.heart"
}

8
assets/json/controller.reboot.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.reboot",
"data": {
"arg": 6
}
}

8
assets/json/controller.set_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "controller.set_params",
"data": {
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}
}

5
assets/json/device.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "device.get_params"
}

8
assets/json/diagnosis.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "robot",
"command": "diagnosis.get_params",
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}
}

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assets/json/diagnosis.open.json Normal file
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{
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"module": "robot",
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"turn_area": false,
"delay_motion": false
}
}

8
assets/json/diagnosis.save.json Normal file
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{
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"module": "robot",
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}
}

10
assets/json/diagnosis.set_params.json Normal file
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{
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"module": "robot",
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}
}

5
assets/json/drag.get_params.json Normal file
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{
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"module": "dynamic",
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}

10
assets/json/drag.set_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "dynamic",
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"enable": true,
"space": 0,
"type": 0
}
}

5
assets/json/fieldbus_device.get_params.json Normal file
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{
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"module": "fieldbus",
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}

8
assets/json/fieldbus_device.load_cfg.json Normal file
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{
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"module": "fieldbus",
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"data": {
"file_name": "fieldbus_device.json"
}
}

9
assets/json/fieldbus_device.set_params.json Normal file
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{
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"module": "fieldbus",
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"enable": true
}
}

5
assets/json/io_device.load_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "io_device.load_cfg"
}

5
assets/json/jog.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "jog.get_params"
}

10
assets/json/jog.set_params.json Normal file
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{
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"module": "motion",
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"space": 5
}
}

10
assets/json/jog.start.json Normal file
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{
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"module": "motion",
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8
assets/json/log_code.data.code_list.json Normal file
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{
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}
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}

5
assets/json/log_code.data.json Normal file
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{
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}

5
assets/json/modbus.get_params.json Normal file
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{
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"module": "fieldbus",
"command": "modbus.get_params"
}

8
assets/json/modbus.load_cfg.json Normal file
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{
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"module": "fieldbus",
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}
}

5
assets/json/move.get_joint_pos.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_joint_pos"
}

5
assets/json/move.get_monitor_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_monitor_cfg"
}

5
assets/json/move.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "motion",
"command": "move.get_params"
}

5
assets/json/move.get_pos.json Normal file
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{
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"module": "motion",
"command": "move.get_pos"
}

5
assets/json/move.get_quickstop_distance.json Normal file
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{
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"module": "motion",
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}

5
assets/json/move.get_quickturn_pos.json Normal file
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{
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"module": "motion",
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}

8
assets/json/move.quick_turn.json Normal file
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{
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"module": "motion",
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"data": {
"name":"home"
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8
assets/json/move.set_monitor_cfg.json Normal file
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{
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"module": "motion",
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}

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assets/json/move.set_params.json Normal file
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{
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"module": "motion",
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8
assets/json/move.set_quickstop_distance.json Normal file
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{
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assets/json/move.set_quickturn_pos.json Normal file
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{
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assets/json/move.stop.json Normal file
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{
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5
assets/json/overview.get_autoload.json Normal file
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{
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}

5
assets/json/overview.get_cur_prj.json Normal file
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{
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"module": "project",
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9
assets/json/overview.reload.json Normal file
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{
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8
assets/json/overview.set_autoload.json Normal file
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{
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11
assets/json/register.set_value.json Normal file
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{
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8
assets/json/rl_task.pp_to_main.json Normal file
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{
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"module": "project",
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}

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assets/json/rl_task.run.json Normal file
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{
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9
assets/json/rl_task.set_run_params.json Normal file
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{
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8
assets/json/rl_task.stop.json Normal file
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{
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"module": "project",
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}

7
assets/json/safety.safety_area.overall_enable.json Normal file
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{
"c": {
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}
}

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assets/json/safety.safety_area.safety_area_enable.json Normal file
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{
"c": {
"safety.safety_area.safety_area_enable": {
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}
}
}

7
assets/json/safety.safety_area.signal_enable.json Normal file
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{
"c": {
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}
}
}

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assets/json/safety_area_data.json Normal file
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{
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}
}

5
assets/json/servo.clear_alarm.json Normal file
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{
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"module": "robot",
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}

5
assets/json/socket.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "network",
"command": "socket.get_params"
}

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assets/json/socket.set_params.json Normal file
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{
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"module": "network",
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}

5
assets/json/soft_limit.get_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "safety",
"command": "soft_limit.get_params"
}

13
assets/json/soft_limit.set_params.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "safety",
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}

5
assets/json/state.get_state.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.get_state"
}

5
assets/json/state.get_tp_mode.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.get_tp_mode"
}

8
assets/json/state.set_tp_mode.json Normal file
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{
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"module": "system",
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"data": {
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}

5
assets/json/state.switch_auto.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_auto"
}

5
assets/json/state.switch_manual.json Normal file
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{
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"module": "system",
"command": "state.switch_manual"
}

5
assets/json/state.switch_motor_off.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_motor_off"
}

5
assets/json/state.switch_motor_on.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "system",
"command": "state.switch_motor_on"
}

5
assets/json/system_io.query_configuration.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_configuration"
}

5
assets/json/system_io.query_event_cfg.json Normal file
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{
"id": "xxxxxxxxxxx",
"module": "io",
"command": "system_io.query_event_cfg"
}

9
assets/json/system_io.update_configuration.json Normal file
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{
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"module": "io",
"command": "system_io.update_configuration",
"data": {
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}