Motion Control State Interface

Basic Status Report

The robot proactively reports status information to the IP and port that send heartbeat commands.

Type	Command	Description
0x0030 0064	0x00f0 0000	Get robot basic status information

Return Fields:

Parameter	Meaning	Data Type	Values
MotionState	Robot motion state	int	Idle=0, Joint Damping/Soft E-Stop=2, RL Control=17, Suspended Stand-up=0x20006
Gait	Robot motion gait	int	Basic=0x21001, Obstacle Traversal=0x21006

Motion Control Status Report

Type	Command	Description
0x0030 0001	0x00f0 0000	Get robot motion control status information

Return Fields:

• MotionStatus - Full-body motion control status (Body/Leg posture, linear velocity, height, etc.)

Motion State Transition

Type	Command	Description
0x0030 0001	0x0020 0002	Switch robot motion state

Message Fields:

Parameter	Meaning	Data Type	Values
MotionParam	Robot motion state	int	Idle=0, Joint Damping/Soft E-Stop=2, RL Control=17, Suspended Stand-up=0x20006

JSON Example:

{
    "PatrolDevice": {
        "Type": 0x00300001,
        "Command": 0x00200002,
        "Time": "2026-01-01 00:00:00",
        "Items": {
            "MotionParam": 17
        }
    }
}

Motion Gait Switching

Type	Command	Description
0x0030 0001	0x0030 0002	Switch robot motion gait

Message Fields:

Parameter	Meaning	Data Type	Values
GaitParam	Robot motion gait	int	Basic=0x21001, Obstacle Traversal=0x21006

JSON Example:

{
    "PatrolDevice": {
        "Type": 0x00300001,
        "Command": 0x00300002,
        "Time": "2026-01-01 00:00:00",
        "Items": {
            "GaitParam": 0x21001
        }
    }
}

Motion Control (Axis Commands)

Type	Command	Description
0x0030 0001	0x0010 0002	Robot motion control and posture adjustment

Message Fields:

Parameter	Meaning	Data Type	Range
X	Forward/backward velocity	float	[-1, 1]
Y	Left/right velocity	float	[-1, 1]
Z	Vertical velocity	float	[-1, 1]
Roll	Roll angle	float	[-1, 1]
Pitch	Pitch angle	float	[-1, 1]
Yaw	Yaw angle	float	[-1, 1]

JSON Example:

{
    "PatrolDevice": {
        "Type": 0x00300001,
        "Command": 0x00100002,
        "Time": "2026-01-01 00:00:00",
        "Items": {
            "X": 0.5,
            "Y": 0.0,
            "Z": 0.0,
            "Roll": 0.0,
            "Pitch": 0.0,
            "Yaw": 0.1
        }
    }
}