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作业文件指令
删除作业文件时，发送：
*0x3111 JOBFILE_DELETE
json
{
"robot": 1,
"jobfilename": "Q",
"suffixname": ".JBR"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| jobfilename | string | 作业文件名称 |
| suffixname | string | 作业文件后缀名 |
重命名作业文件时，发送：
*0x3112 JOBFILE_RENAME
json
{
"robot": 1,
"lastname": "Q",
"newname": "W",
"suffixname": ".JBR"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| lastname | string | 修改前文件名 |
| newname | string | 修改后文件名 |
| suffixname | string | 文件后缀名 |
新建作业文件
*0x3113 JOBFILE_CREATE
json
{
"robot": 1,
"jobName": "xxxx",
"suffixname": ".JBR",
"time": "JAN 24 18:32:12:2018"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| jobName | string | 新建作业文件名 |
| suffixname | string | 作业文件后缀名 |
| time | string | std::localtime |
打开作业文件
*0x3114 JOBFILE_OPEN
json
{
"robot": 1,
"jobName": "xxxx",
"suffixname": ".JBR"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| jobName | string | 作业文件名 |
| suffixname | string | 作业文件后缀名 |
复制作业文件
*0x3115 JOBFILE_COPY
json
{
"robot": 1,
"oldjobName": "xxxx",
"newjobName": "xxxx",
"suffixname": ".JBR"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| oldjobName | string | 旧作业文件名 |
| newjobName | string | 复制后新文件名 |
| suffixname | string | 作业文件后缀名 |
清空当前机器人作业文件
*0x3116 JOBFILE_CLEAR
json
{
"robot": 1
}设置作业文件为主程序
*0x3117 JOBFILE_MAINJOB_SET
json
{
"robot": 1,
"jobName": "xxx"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| jobName | string | 主程序文件名，空表示没有 |
*0x3118 JOBFILE_MAINJOB_INQUIRE
json
{
"robot": 1
}*0x3119 JOBFILE_MAINJOB_RESPOND
json
{
"robot": 1,
"jobName": "xxx"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| jobName | string | 主程序文件名，空表示没有 |
保存作业文件
*0x3120 JOB_SAVE
json
{
"robot": 1,
"jobname": "xxx",
"suffix": ".JBR",
"time": "JAN 24 18:32:12:2018"
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| jobname | string | 文件名 |
| suffix | string | 文件后缀名 |
| time | string | 保存时间 |
程序运行状态
上位机查询程序运行状态时，发送：
*0x3D02 PROGRAMRUN_STATUS_INQUIRE
json
{
"robot": 1
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号，表示机器人1，2，3，4 |
控制器回复：
*0x3D03 PROGRAMRUN_STATUS_RESPOND
- 命令字：0x2304 DEADMAN_MODE_SET
json
{
"robot": 1,
"status": 0
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| status | int | 程序运行状态：0-停止 1-暂停 2-运行 |
插入指令
*0x3121 JOB_INSERT_INSTR
json
{
"robot": 1,
"pos": 1,
"savejobfile": true,
"cmd": {"t":"moj","acc":20}cmd->toJson()
}| 参数 | 类型 | 说明 |
|---|---|---|
| robot | int | 机器人编号 |
| pos | int | 指令插入行号 |
| savejobfile | bool | 是否保存作业文件 |
| cmd | object | 插入指令json列表，json的格式下方/指令/中 |
/以下为插入指令中的运动控制类/
MOVJ 插入点到点
json
{
"ParaACC": {
"data": 25.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 25.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 25.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0015",
"radius": 0.0,
"side": 0.0,
"type": 1,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> 必填加速度
> 必填减速度
> 必填平滑
> 圆弧和整圆指令，0=姿态不变 1=六轴不转 2=六轴旋转
> 外部轴指令，变位机是否同步
> 必填，提前执行，自然数(ms)
> 必填，速度
> 必填，速度单位：0=cm/s 1=mm/s 2=百分比
> 必填，全局点位
> 必填 1=点到，2=直线，3=圆弧，4=整圆
MOVL 插入直线
json
{
"ParaACC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 5.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 1000.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0001",
"radius": 0.0,
"side": 0.0,
"type": 2,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> 必填加速度
> 必填减速度
> 必填平滑
> 圆弧和整圆指令，0=姿态不变 1=六轴不转 2=六轴旋转
> 外部轴指令，变位机是否同步
> 必填，提前执行，自然数(ms)
> 必填，速度
> 必填，速度单位：0=cm/s 1=mm/s 2=百分比
> 必填，全局点位
> 必填 1=点到，2=直线，3=圆弧，4=整圆MOVC 插入圆弧
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0001",
"radius": 0.0,
"side": 0.0,
"type": 3,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> 圆弧和整圆指令，0=姿态不变 1=六轴不转 2=六轴旋转
> 必填，速度单位：0=cm/s 1=mm/s 2=百分比
> 必填 1=点到，2=直线，3=圆弧，4=整圆MOVCA 插入整圆
json
{
"ParaACC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 5.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 1000.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0001",
"radius": 0.0,
"side": 0.0,
"type": 4,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> 必填 1=点到，2=直线，3=圆弧，4=整圆MOVS 插入曲线
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 1,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "P0004",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "P0004",
"radius": 0.0,
"side": 0.0,
"type": 6,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> MOVS在枚举数列type中为6IMOV 增量
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 3,
"data": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "RP0001",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "RF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "RP0001",
"radius": 0.0,
"side": 0.0,
"type": 5,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> IMOV在枚举数列type中为5MOVJEXT 插入外部轴点到点
"cmd":
json
{
"ParaACC": {
"data": 10.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 10.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 2,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "E0001",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "E0001",
"radius": 0.0,
"side": 0.0,
"type": 32,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> 速度 MOVJEXT单位为百分比 范围：1~100 整数MOVLEXT
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 2,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "E0002",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "E0002",
"radius": 0.0,
"side": 0.0,
"type": 33,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> MOVLEXT 在枚举数列type中为33MOVCEXT
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 2,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "E0003",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "E0003",
"radius": 0.0,
"side": 0.0,
"type": 34,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> MOVCEXT 在枚举数列type中为34SPEED 全局速度
"cmd":
json
{
"logout": false,
"paraSpeed": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 30,
"userParamInt": 0,
"userParamString": ""
}
> 是否注销
> 全局速度值 范围：1~200
> SPEED 在枚举数列type中为30
> 二次开发自定义节点
> 二次开发自定义节点SAMOV 定点移动
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 4,
"data": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
99999.0,
99999.0,
99999.0,
99999.0,
99999.0,
99999.0,
99999.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "AP0001",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "RF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "AP0001",
"radius": 0.0,
"side": 0.0,
"type": 58,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> SAMOV 在枚举数列type中为58MOVJDOUBLE 双机点到点
"cmd": {
"ParaACC": {
"data": 58.0, //加速度数值
"secondvalue": 0,
"value": 0,
"varname": ""
},//加速度调整比率(1~100)
"ParaDEC": {
"data": 58.0, //减速度数值
"secondvalue": 0,
"value": 0,
"varname": ""
},//减速度调整比率(1~100)
"ParaPL": {
"data": 0.0, //平滑数值
"secondvalue": 0,
"value": 0,
"varname": ""
},//定位等级，范围0~5
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//姿态参数 0=姿态不变 1=六轴不转 2=六轴旋转
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//机器人与外部轴是否同步 0 = 否，1 = 是
"ParaTIME": {
"data": 88.0, //提前执行时间数值
"secondvalue": 0,
"value": 0,
"varname": ""
},//提前执行，自然数(ms)
"ParaV": {
"data": 58.0, //速度数值
"m_vUnit": 2,//速度单位：0=cm/s 1=mm/s 2=百分比
"secondvalue": 0,
"value": 0,
"varname": ""
速度 MOVJDOUBLE 单位为百分比 范围：1~100 整数
"ctype": 0,
"imovecoord": "UF", //移动坐标：关节坐标RF、直角坐标BF、工具坐标TF、用户坐标UF
"length": 0.0,//长度
"logout": false,
"margin": 0.0,//边缘
"offsetAxis": 0,
"para": 0,
"polish": 0,//打磨次数(1~99)
"polishAngle": 0.0,//打磨角度(-180~+180)
"polishID": 1,//打磨ID(1~99)
"posidname": "",
"posidtype": 0,
"positionId": "GE0023", //点位名称
"radius": 0.0,
"side": 0.0,
MOVJDOUBLE 在枚举数列type中为54
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVLDOUBLE 双机直线
"cmd": {
"ParaACC": {
"data": 2.50,
"secondvalue": 0,
"value": 0,
"varname": ""
},//加速度调整比率(1~100)
"ParaDEC": {
"data": 2.50,
"secondvalue": 0,
"value": 0,
"varname": ""
},//减速度调整比率(1~100)
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//定位等级，范围0~5
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//姿态参数 0=姿态不变 1=六轴不转 2=六轴旋转
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//机器人与外部轴是否同步 0 = 否，1 = 是
"ParaTIME": {
"data": 88.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//提前执行，自然数(ms)
"ParaV": {
"data": 25.0,
"m_vUnit": 1,//速度单位：0=cm/s 1=mm/s 2=百分比
"secondvalue": 0,
"value": 0,
"varname": ""
速度 MOVLDOUBLE 单位为mm/s 范围：2~1000 整数
"ctype": 0,
"imovecoord": "UF",//移动坐标：关节坐标RF、直角坐标BF、工具坐标TF、用户坐标UF
"length": 0.0,//长度
"logout": false,
"margin": 0.0,//边缘
"offsetAxis": 0,
"para": 0,
"polish": 0,//打磨次数(1~99)
"polishAngle": 0.0,//打磨角度(-180~+180)
"polishID": 1,//打磨ID(1~99)
"posidname": "",
"posidtype": 0,
"positionId": "GE0069",//位置名称
"radius": 0.0,//半径参数
"side": 0.0,
MOVLDOUBLE 在枚举数列type中为55
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVCDOUBLE 双机圆弧
"cmd": {
"ParaACC": {
"data": 3.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//加速度调整比率(1~100)
"ParaDEC": {
"data": 6.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//减速度调整比率(1~100)
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 8.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF", //移动坐标：关节坐标RF、直角坐标BF、工具坐标TF、用户坐标UF
"length": 0.0,//长度
"logout": false,
"margin": 0.0,//边缘
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GE0002",
"radius": 0.0,
"side": 0.0,
MOVCDOUBLE 在枚举数列type中为56
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVCADOUBLE 双机整圆
"cmd": {
"ParaACC": {
"data": 3.0, //加速度数值
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 2.50, //减速度数值
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0, //平滑数值
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 7.0, //提前执行时间数值
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 25.0, //速度数值
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF", //移动坐标：关节坐标RF、直⻆坐标BF、⼯具坐标TF、⽤⼾坐标UF
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GE0693", //点位名称
"radius": 0.0,
"side": 0.0,
MOVCADOUBLE 在枚举数列type中为57
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVCOMM 外部点
"cmd":
json
{
"_pParaACC":{"data":20.0,"secondvalue":0,"value":0,"varname":""},
"_pParaDEC":{"data":20.0,"secondvalue":0,"value":0,"varname":""},
"_pParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"_pParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"_pParaV"：{"data":10.0,
"m_vUnit":2,
"secondvalue":0,"value":0,"varname":""},
MovJ 单位为百分比 范围：1~100 整数
MovL 单位为mm/s 范围：2~1000 整数
MovS 单位为mm/s 范围：2~1000 整数
"logout":false,
"moveType":"MovJ",
"type":99,
"userParamInt":0,
"userParamString":""
}
> 运动加速度
> 运动减速度
> 平滑过渡 (0~5)
> 提前执行，自然数(ms)
> 速度单位：0=cm/s 1=mm/s 2=百分比
> 速度 MOVCOMM 根据插补方式不同
> 插补类型EXTMOV 外部轴随动
"cmd":{"_pVarName":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"extaxle":1,//外部轴编号
"logout":false,
"movtype":0, //运动类型 0 =随线速度动 1 = 恒速运动
"speedproportionfactor":1.0,//速度比例系数 K：外部轴速度（°/s）=K*线速度（mm/s）
EXTMOV 在枚举数列type中为142
"userParamInt":0,
"userParamString":""
}
ENDEXTMOV 外部轴随动停止（在插入外部轴随动时自动紧跟插入，不可修改）
"cmd":
json
{
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"extaxle": 1,
"logout": false,
"movtype": 0,
"speedproportionfactor": 0.0,
"type": 143,
"userParamInt": 0,
"userParamString": ""
}
> 外部轴编号
> 运动类型 0 =随线速度动 1 = 恒速运动
> 速度比例系数 K：外部轴速度（°/s）=K*线速度（mm/s）
> ENDEXTMOV 在枚举数列type中为143GEARIN 电子齿轮
"cmd":
json
{
"followAxle": 1,
"logout": false,
"mainAxle": 1,
"proportionfactor": 2.0,
"type": 146,
"userParamInt": 0,
"userParamString": ""
}
> 随动轴
> 主轴 可选机器人的 J1~J6 轴
> 比例关系 K：随动轴速（°/s）=K*主轴速（°/s）
> GEARIN 在枚举数列type中为146ENDGEARIN 电子齿轮停止（紧跟电子齿轮命令插入）
"cmd":
json
{
"followAxle": 1,
"logout": false,
"mainAxle": 1,
"proportionfactor": 1.0,
"type": 148,
"userParamInt": 0,
"userParamString": ""
}
> 随动轴
> 主轴 可选机器人的 J1~J6 轴
> 比例关系 K：随动轴速（°/s）=K*主轴速（°/s）
> ENDGEARIN 在枚举数列type中为148MRESET 复位外部轴多圈转动量
"cmd":
json
{
"exterAxis": 0,
"logout": false,
"type": 147,
"userParamInt": 0,
"userParamString": ""
}
> 外部轴个数
> MRESET 在枚举数列type中为147//DRAG_TRAJECTORY 拖拽轨迹
"cmd":
json
{
"logout": false,
"trackName": "##NNNN$$",
"trackSpeed": 55,
"type": 170,
"userParamInt": 0,
"userParamString": ""
}
> 自行设置的轨迹名称
> 轨迹回放速率 单位：百分比 范围：0~500
> DRAG_TRAJECTORY 在枚举数列type中为170SWITCHPAYLOAD 切换负载编号
"cmd":
json
{
"_pVarName": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 220,
"userParamInt": 0,
"userParamString": ""
}
> SWITCHPAYLOAD 在枚举数列type中为220//MOVARCH 门型运动
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 1,
"data": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "P0005",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "P0005",
"radius": 0.0,
"side": 0.0,
"type": 233,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> SWITCHPAYLOAD 在枚举数列type中为233/以上为插入指令中的运动控制类/
/以下为插入指令中的输入输出类/
DIN IO输入
"cmd":
json
{
"ParaGroup":
{
"data":0.0,
"secondvalue":0,
"value":0,
"varname":""
},
"ParaGroupNum":{"data":1.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupTime":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupValue":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"errorHanding":0,
"groupType":"IN#",
"logout":false,
"portId":-1,
例：IO板1：1~16
IO板2：17~32
IO板3：33~48
IO板4：48~64
4路输入范围1~4 每块IO板分配4个组号
8路输入范围1~2 每块IO板分配2个组号
"rate":0,
"sum":0,
"type":17,
"userParamInt":0,
"userParamString":""
}
> din dout 类型 IN# IGH# IG# OT# OGH# OG#
> 输入组号 1路输入范围1~16每块IO板分配16个组号，
> DIN 在枚举数列type中为17DOUT IO输出 将IO板上对应的IO端口置高或置低
"cmd":
json
{
"ParaGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupNum":{"data":1.0,"secondvalue":0,"value":0,"varname":""},
INT-I001~I100 GINT-GI001~GI990
BOOL-B001~B100 GBOOL-GB001~GB990,
"ParaGroupTime":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupValue":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"errorHanding":0,
"groupType":"OT#",
"logout":false,
"portId":-1,
例：IO板1：1~16
IO板2：17~32
IO板3：33~48
IO板4：48~64
4路输入范围1~4 每块IO板分配4个组号
8路输入范围1~2 每块IO板分配2个组号
"rate":0,
"sum":0,
"type":16,
"userParamInt":0,
"userParamString":""
}
> din ain 变量名字 自定义变量无变量名 其余根据变量来源有
> 状态保持时间 到时间后置零 范围 >0
> 变量来源数值 手动选择端口值 按二进制输出，每个端口二进制增 加１，例：选择端口１ 值为0000 0001， 选择端口1~3 值为0000 0111
> din dout 类型 IN# IGH# IG# OT# OGH# OG#
> 输出组号 1路输入范围1~16每块IO板分配16个组号，
> DOUT 在枚举数列type中为16AIN 模拟输入
"cmd":
json
{
"ParaGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupNum":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupTime":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupValue":{"data":0.0,"secondvalue":0,"value":1,"varname":"D001"},
"errorHanding":0,
"groupType":"",
"logout":false,
"portId":1,
例：IO板1：1~16
IO板2：17~32
IO板3：33~48
IO板4：48~64
4路输入范围1~4 每块IO板分配4个组号
8路输入范围1~2 每块IO板分配2个组号
"rate":0,
"sum":0,
"type":21,
"userParamInt":0,
"userParamString":""
}
> din ain 变量名字
> 输出组号 1路输入范围1~16每块IO板分配16个组号，
> AIN 在枚举数列type中为21AOUT 模拟输出
"cmd":
json
{
"ParaGroup": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupTime": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupValue": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"errorHanding": 0,
"groupType": "",
"logout": false,
"portId": 1,
"rate": 0,
"sum": 0,
"type": 20,
"userParamInt": 0,
"userParamString": ""
}
> AOUT 在枚举数列type中为20PULSEOUT 脉冲输出
"cmd":
json
{
"ParaGroup": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupTime": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupValue": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"errorHanding": 0,
"groupType": "",
"logout": false,
"portId": -1,
"rate": 100,
"sum": 100,
"type": 22,
"userParamInt": 0,
"userParamString": ""
}
> 脉冲频率 范围：1~1000000 整数
> 脉冲个数 范围：大于0整数
> PULSEOUT 在枚举数列type中为22READ_DOUT 读取输出
"cmd":
json
{
"ParaGroup": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupNum": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupTime": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupValue": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"errorHanding": 0,
"groupType": "OT#",
"logout": false,
"portId": -1,
"rate": 0,
"sum": 0,
"type": 97,
"userParamInt": 0,
"userParamString": ""
}
> READ_DOUT在枚举数列type中为97/以上为插入指令中的输入输出类/
/以下为插入指令中的定时器类/
TIMER 延时
"cmd":
json
{
"logout": false,
"paraTime": {
"data": 0.01,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 7,
"userParamInt": 0,
"userParamString": ""
}
> 延时持续时间
> READ_DOUT在枚举数列type中为7/以上为插入指令中的定时器类/
/以下为插入指令中的运算类/
ADD 加
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":42,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> ADD在枚举数列type中为42SUB 减
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":
{
"data":0.0,
"secondvalue":0,
"value":1,
"varname":"I001"
},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":43,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> SUB在枚举数列type中为43MUL 乘
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":44,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> MUL在枚举数列type中为44DIV除
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":45,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> DIV在枚举数列type中为45MOD 模
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":46,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> MOD在枚举数列type中为46SIN 正弦
cmd:
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":100,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> SIN在枚举数列type中为100COS余弦
cmd:
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":101,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> COS在枚举数列type中为101ATAN反正切
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":102,
"userParamInt":0,
"userParamString":""
}
> 变量值来源 0-自定义 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> 变量参数 自定义变量参数范围无限制 ，INT I001~I100
> 变量名INT I001~I100 DOUBLE D001~D100
> ATAN在枚举数列type中为102LOGICAL_OP 逻辑运算
{
"cmd":
json
{
"logicalType": 0,
"logout": false,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupStore": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 119,
"userParamInt": 0,
"userParamString": ""
}
> 参数1
> 结果
> 参数2
> LOGICAL_OP在枚举数列type中为119/以上为插入指令中的运算类/
/以下为插入指令中的条件控制类/
CALL 调用子程序
执行该命令时，跳转到被调用的子程序，子程序执行完毕后回到主程序CALL命令后一行继续执行
"cmd":
json
{
"jobName": "CVCXV",
"lineNoToCall": 0,
"logout": false,
"type": 15,
"userParamInt": 0,
"userParamString": ""
}
> 子程序名
> 是否注释
> CALL 在枚举数列type中为119CALL_LUAFILE 调用Lua文件
"cmd":
json
{
"logout": false,
"luaStringIstructionsn": "",
"luafileName": "demo.lua",
"textEditType": true,
"type": 219,
"userParamInt": 0,
"userParamString": ""
}
> lua文件名
> CALL_LUAFILE 在枚举数列type中为119IF 如果 ELSEIF ELSE
"cmd":
json
{
"ifconditionArrayFINAL":
{
"conditionGroup":
[[{
"desValue":"0",
I001~I100 D001~D100 B001~B100 GI001~GI990 GD001~GD990 GB001~GB990
DIN 每块IO板16个数字输入
例 DIN24 24 = 16 + 8 24表示IO2板的8号口
IO1板16 + IO2板 8
AIN每块IO板2个模拟输入
例 AIN3 3＝2＋1 表示IO2板１号口
IO1板2＋IO2板1,
"key":"I001",
DIN 每块IO板16个数字输入
例 DIN24 24 = 16 + 8 24表示IO2板的8号口
IO1板16 + IO2板 8
AIN每块IO板2个模拟输入
例 AIN3 3＝2＋1 表示IO2板１号口
IO1板2＋IO2板1,
"logicType":1,
"paraGroupOne":变量1
{
"data":0.0,
"secondvalue":0,
"value":1,
"varname":"I001"
},
"paraGroupTwo":{"data":0.0,"secondvalue":0,"value":0,"varname":""}变量2
}]]},
"logout":false,
"type":9,
"userParamInt":0,
"userParamString":""
}
> 比较变量值 自定义变量范围[-999999，999999]
> 参数名 I001~I100 D001~D100 B001~B100 GI001~GI990 GD001~GD990 GB001~GB990
> 比较方式 1:== 2:< 3:> 4:<= 5:>= 6:!=
> IF在枚举数列type中为9 ELSE10 ELSEIF11IF和ENDIF配对使用，不能单独删除或更改，会导致程序运行出错
ELSE IF 不可脱离IF单独使用
WAIT 等待
"cmd":
json
{
"logout": false,
"m_filterTime": -1.0,
"now": 0,
"paraTime": {
"data": -1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 8,
"userParamInt": 0,
"userParamString": "",
"waitConditionFinal": {
"conditionGroup": [
[
{
"desValue": "0",
"key": "I001",
"logicType": 1,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 2.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
]
]
}
}
> 参数1
> 参数2WHILE 循环
WHILE 和ENDWHILE必须配对使用，不能单独删除，会导致程序运行出错
"cmd":
json
{
"logout":false,
"type":13,
"userParamInt":0,
"userParamString":"",
"whileconditionArrayFINAL":
{
"conditionGroup":
[[{
"desValue":"0",
"key":"I001",
DIN 每块IO板16个数字输入
例 DIN24 24 = 16 + 8 24表示IO2板的8号口
IO1板16 + IO2板 8
AIN每块IO板2个模拟输入
例 AIN3 3＝2＋1 表示IO2板１号口
IO1板2＋IO2板1,
"logicType":1,
"paraGroupOne":
{
"data":0.0,
"secondvalue":0,
"value":1,
"varname":"I001"
},
"paraGroupTwo":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"}
}]]}}
> WHILE在枚举数列type中为13
> 参数名
> 参数名 I001~I100 D001~D100 B001~B100 GI001~GI990 GD001~GD990 GB001~GB990
> 比较方式 1:== 2:< 3:> 4:<= 5:>= 6:!=
> 参数1
> 参数2ENDWHILE 结束循环
"cmd":{
"logout":false,
ENDWHILE在枚举数列type中为14
"pos":6,
"robot":1,
"time":"2021.05.18 02:46:05"
LABEL 标签
"cmd":
json
{
"jumpConditionFlag": false,
"label": "[$DSFSF$]",
"logout": false,
"type": 50,
"userParamInt": 0,
"userParamString": ""
}
> 标签名 只能字母开头
> LABLE在枚举数列type中为50JUMP 跳转
JUMP 必须与LABEL 配合使用，运行到JUMP指令后，若设定了判断条件，则直接跳转到对应的LABEL指令后运行LABEL下一行指令
"cmd":
json
{
"jumpCondition": {
"conditionGroup": [
[
{
"desValue": "0",
"key": "I001",
"logicType": 1,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
]
]
},
"jumpConditionFlag": true,
"label": "[$DSFSF$]",
"logout": false,
"type": 51,
"userParamInt": 0,
"userParamString": ""
}
> 参数名
> 参数名
> 比较方式 1:== 2:< 3:> 4:<= 5:>= 6:!=
> 变量参数1
> 变量参数2
> 对应标签
> JUMP 在枚举数列type中为51UNTIL 直到
当条件满足时，无论机器人是否运行，立即暂停并开始ENDUNTIL指令下面的一条指令
UNTIL和ENDUNTIL一一对应，需同时删除，否则程序会报错
"cmd":
json
{
"logout": false,
"type": 85,
"untilconditionArrayFINAL": {
"conditionGroup": [
[
{
"desValue": "0",
"key": "I001",
"logicType": 1,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
]
]
},
"userParamInt": 0,
"userParamString": ""
}
> UNTIL 在枚举数列type中为85ENDUNTIL 停止直到
满足直到条件后运行该指令下一行的指令
"cmd":{
"userParamInt":0,
"userParamString":"",
"logout":false,
ENDUNTIL在枚举数列type中为86
CRAFTLINE 工艺跳行
专用工艺指令，程序中运行该指令后，在专用工艺界面会跳转到对应的行数
"cmd":{
"line":3, //专用工艺界面中对应的指令行数
"logout":false,
"type":87,//CRAFTLINE 在枚举数列type中为87
"userParamInt":0,
"userParamString":""
},
CMDNOTE 指令注释
"cmd":{
"logout":false,
"note":"##YYYY$$", //YYYY为注释内容
"type":125,
"userParamInt":0,
"userParamString":""
}, //CMDNOTE 在枚举数列type中为125
POS_REACHABLE 是否可达判断
"cmd": {
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 6, //变量类型 3：B 6： GB
"varname": "GB001" //状态存入变量名称
},//判断能否通过插补运行到位置点 能-1 不能-0
"logout": false,
"moveType": 0,
"positionId": "GP0001", //位置变量名称 GP/P点位
"type": 131,//POS_REACHABLE在枚举数列type中为131
"userParamInt": 0,
"userParamString": ""
}
CLKSTART 计时开始
"cmd":
json
{
"ID": 1,
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 2,
"varname": "D001"
},
"logout": false,
"type": 126,
"userParamInt": 0,
"userParamString": ""
}
> 计时序号
> 存入变量
> 注销
> CLKSTART 在枚举数列type中为126CLKSTOP 计时停止
"cmd":
json
{
"ID": 1,
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 127,
"userParamInt": 0,
"userParamString": ""
}
> 要停止的计时序号 1~32
> CLKSTOP 在枚举数列type中为127CLKRESET 计时复位
"cmd":
json
{
"ID": 1,
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 128,
"userParamInt": 0,
"userParamString": ""
}
> 要复位的计时序号 1~32
> CLKRESET 在枚举数列type中为128READLINEAR 读取线速度
"cmd":
json
{
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 4,
"varname": "GI001"
},
"logout": false,
"type": 144,
"userParamInt": 0,
"userParamString": ""
}
> READLINEAR 在枚举数列type中为144STOPREADLINEAR 读取线速度停止
"cmd":
json
{
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 145,
"userParamInt": 0,
"userParamString": ""
}
> STOPREADLINEAR 在枚举数列type中为145CALL_LUASTRING 调用lua语句
"cmd":
json
{
"logout": false,
"luaStringIstructionsn": "",
"luafileName": "",
"textEditType": true,
"type": 231,
"userParamInt": 0,
"userParamString": ""
}
> lua语句
> CALL_LUASTRING 在枚举数列type中为145WAIT_POS 等到运动到点
"cmd":
json
{
"accurary": 0.1,
"logout": false,
"maxTime": 200,
"minTime": 20,
"type": 234,
"userParamInt": 0,
"userParamString": "",
"waitType": 0
}
> 精度 度（0.0001-0.1）
> 最大等待时间
> 最小等待时间
> WAIT_POS 在枚举数列type中为234/以上为插入指令中的条件控制类/
/以下为插入指令中的变量类/
SET 赋值
json
{
"boolValue": false,
"doubleValue": 0.0,
"intValue": 0,
"key": "I000",
"logout": false,
"strValue": "0",
"type": 41,
"userParamInt": 0,
"userParamString": "",
"varType": 0,
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "I001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "GI001"
}
}
> 是否注销
> SET 指令值
> 变量
> 当value=0是，值在此填
> 是否内嵌变量
> 0-非字符串的手填值 7-字符串手填值 8-局部或全局变量
> 当value=7，值在此填 当value=8 填变量名 GI001 GB GD I001等
> 变量值 下方参数注释如上FORCESET 写入文件
在程序运行过程中，所有的计算、赋值操作均是对缓存中的数值进行更改的，并不会存入
系统文件中，即当程序运行停止后所有全局变量的值都会还原。
若要强制将内容中的全局数值变量写入文件中，则可以使用 FORCESET 指令
"cmd":
json
{
"logout": false,
"type": 41,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "GI001"
}
}
> FORCESET 在枚举数列type中为41
> 变量名/以上为插入指令中的变量类/
/以下为插入指令中的字符串类/
STRING_SPELL 字符串追加
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> STRING_SPELL 在枚举数列type中为224
> STRING_SPELL 字符串追加，变量
> STRING_SPELL 字符串追加，变量值STRING_SLIC 索引截取
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 225,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> STRING_SLICE起始索引
> STRING_SLIC 在枚举数列type中为225
> 数据存放的变量STRING_SPLIT 字符串分隔符拆分
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> 记录提取数据的数量
> 查询的数据依次存放的首地址
> 分隔符的类型
> 被提取的字符串变量名STRING_LOCATE 字符串定位
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> 记录提取数据的数量
> 查询的数据依次存放的首地址
> 待索引变量，需要搜索的字符
> 变量，定位字符所在的变量STRING_LENGTH 字符串长度
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> 数据存放的变量，计算结果存储的变量
> 变量，待计算长度的变量STRING_TO 字符串转非字符串
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> 非字符串变量，转译的目标变量
> 字符串变量，需要转译的字符串TO_STRING 非字符串转字符串
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> 非字符串变量，需要转译的变量
> 字符串变量，转译的目标变量/以上为插入指令中的变量类/
/以下为插入指令中的坐标系类/
SWITCHTOOL 切换工具手
"cmd": {
"CoordA": 1,
"CoordB": 1,
"CoordC": 1,
"_variable": {
"data": 0.0, //手填值 （选择工具手的编号）
"secondvalue": 1,
"value": 1,
"varname": "GI001" //变量类型 （选择工具手的编号）
},
"coordType": 0,
"logout": false,//注销
"type": 47,//在枚举数列type中为47
"userParamInt": 0,//二次开发自定义参数
"userParamString": ""//二次开发自定义参数
}
SWITCHUSER 切换用户坐标
"cmd": {
"CoordA": 1,
"CoordB": 1,
"CoordC": 1,
"_variable": {
"data": 66.0, //手填值 （选择工具手的编号）
"secondvalue": 0,
"value": 0,
"varname": "" //变量类型 （选择工具手的编号）
},
"coordType": 1,
"logout": false,
SWITCHUSER 在枚举数列type中为48
"userParamInt": 0,
"userParamString": ""
}
USERCOORD_TRANS 用户坐标转换
"cmd":
json
{
"CoordA": 3,
"CoordB": 4,
"CoordC": 5,
"coordType": 0,
"logout": false,
"type": 115,
"userParamInt": 0,
"userParamString": ""
}
> 用户坐标A 1~999整数
> 用户坐标B 1~999整数
> 用户坐标C 1~999整数
> USERCOORD_TRANS在枚举数列type中为115SWITCHSYNC 切换外部轴
"cmd":
json
{
"logout": false,
"syncgroup": 3,
"type": 49,
"userParamInt": 0,
"userParamString": ""
}
> 外部轴组号0~3 0-无外部轴 1-3：外部轴组号
> SWITCHSYNC在枚举数列type中为49/以上为插入指令中的坐标系类/
/以下为插入指令中的网络通讯类/
SENDMSG 发送数据
"cmd":
json
{
"ID": 1,
"logout": false,
"sendChar": "2",
"type": 92,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号1~9
> XXXXX为发送的字符信息
> SENDMSG 在枚举数列type中为92PARSEMSG 解析数据
"cmd": {
"ID": 1, //ID工艺
"clearCache": 1, //解析后清除缓存器
"dataStorage": { //数据存在数
"data": 0.0, //手填值
"secondvalue": 0,
"value": 4, //变量类型选择 1；I 4： GI
"varname": "GI021" //变量名字
},
"dataVariable": { //数据存放的首个变量
"data": 0.0,
"secondvalue": 0,
"value": 2, //变量类型选择 1；I 2：D 4：GI 5：GD 8: S
"varname": "D004" //变量名称
},
"logout": false,//是否注销
PARSEMSG 在枚举数列type中为94
"userParamInt": 0,//二次开发自定义参数
"userParamString": ""//二次开发自定义参数
}
READCOMM 读取
"cmd":
json
{
"ID": 6,
"commType": 0,
"logout": false,
"m_varname": "I008",
"positionId": "GP0007",
"type": 108,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号1~9
> 通讯方式 0-Ethernet 1-Modbus
> 变量名点位存放个数 I001~I100 GI001~GI990
> 点位存放首个变量
> READCOMM 在枚举数列type中为108OPENMSG 打开数据
"cmd":
json
{
"ID": 9,
"logout": false,
"type": 113,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号1~9
> OPENMSG 在枚举数列type中为113CLOSEMSG 关闭数据
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 114,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号1~9
> CLOSEMSG在枚举数列type中为114PRINTMSG 输出字符
"cmd":
json
{
"logout": false,
"printChar": "11",
"printType": 0,
"type": 118,
"userParamInt": 0,
"userParamString": ""
}
> 输出字符
> PRINTMSG 在枚举数列type中为118MSG_CONNECTION_STATUS 获取信息连接状态
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 93,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 6,
"varname": "GB012"
}
}
> 网络设置的工艺号 1~9
> MSG_CONNECTION_STATUS在枚举数列type中为93
> 状态存入变量名/以上为插入指令中的网络通讯类/
/以下为插入指令中的位置变量类/
USERFRAME_SET 用户坐标修改
{"cmd":
json
{"ID":1,
"coord":"UX",
"logout":false,
"m_newValue":"",
"m_varName":"GD001",
"type":95,在枚举数列type中为95,
"userParamInt":0,
"userParamString":"",
"varType":4
}
> 用户坐标编号 1~999整数
> 用户坐标参数 UX,UY,UZ,UA,UB,UC
> 手填变量值 范围[-50000，50000]
> 变量名 I001~I100 GI001~GI990 B001~B100 GB001~GB990
> 变量对应的类型（0：手填值，1：I变量，2：D变量，3：GI变量，4：GD变量TOOLFRAME_SET 工具坐标修改
"cmd": {
"ID": 1, //用户坐标编号1~999整数
"coord": "TX", //用户坐标参数 TX,TY,TZ,TA,TB,TC
"logout": false,
"m_newValue": "", //手填变量值
"m_varName": "GD001", //变量 I001~I100 GI001~GI990 D001~B100 GD001~GB990
TOOLFRAME_SET在枚举数列type中为96
"userParamInt": 0,
"userParamString": "",
"varType": 4 //变量对应的类型（0：手填值，1：I变量，2：D变量，3：GI变量，4：GD变量
}
READPOS 读取点位
"cmd": {
"axis": 2, //位置变量轴 1~6--1~6轴 8~13--O1~O6
"coord": "BF", //位置变量坐标系 RF-关节坐标 BF-直角坐标 TF-工具坐标 UF-用户坐标
"logout": false,
"posidname": "",
"posidtype": 0,//0-位置变量名固定 P001 G001 1-位置变量名不固定 P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", //读取的点位（不填为当前位置 当位置变量类型选择局部位置变量或全局位置变 量，这里选择对应的变 量名。若选择 P$INT、P$GINT、G$INT、 G$GINT，在这里选择对应的整型变量名。例 选择 P$INT，变量 名 I001，I001=33，则得到的位置变量为 P033
READPOS在枚举数列type中为90
"userParamInt": 0,
"userParamString": "",
"varname": "GD001" //读取到的值存放的变量
}
POSADD 点位加
"cmd": {
"axis": 3, //位置变量轴 1~6--1~6轴 8~13--O1~O6
运算类型 0-ADDTYPE 点位加 1-SUBTYPE 点位减 2-SETTYPE 点位改
"coord": "BF", //位置变量坐标系 RF-关节坐标 BF-直角坐标 TF-工具坐标 UF-用户坐标
"datatype": 0, //变量值类型 0-手填值 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
"desData": "87", //位置变量值
"logout": false, //注释
"posidname": "",
"posidtype": 0, //0-位置变量名固定 P001 G001 1-位置变量名不固定 P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", //位置变量名P001 GP001 E001 GP001 I001 GI001
"type": 91, //POSCAL 在枚举数列type中为91
"userParamInt": 0,
"userParamString": ""
}
POSSUB 点位减
"cmd": {
"axis": 3, //位置变量轴 1~6--1~6轴 8~13--O1~O6
运算类型 0-ADDTYPE 点位加 1-SUBTYPE 点位减 2-SETTYPE 点位改
"coord": "BF", //位置变量坐标系 RF-关节坐标 BF-直角坐标 TF-工具坐标 UF-用户坐标
"datatype": 0, //变量值类型 0-手填值 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
"desData": "87", //位置变量值 范围[-50000，50000]
"logout": false,
"posidname": "",
"posidtype": 0,//0-位置变量名固定 P001 G001 1-位置变量名不固定 P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", //位置变量名
"type": 91, //POSCAL 在枚举数列type中为91
"userParamInt": 0,
"userParamString": ""
}
POSSET 点位改
"cmd": {
"axis": 3, //位置变量轴 1~6--1~6轴 8~13--O1~O6
运算类型 0-ADDTYPE 点位加 1-SUBTYPE 点位减 2-SETTYPE 点位改
"coord": "BF", //位置变量坐标系 RF-关节坐标 BF-直角坐标 TF-工具坐标 UF-用户坐标
"datatype": 0,//变量值类型 0-手填值 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
"desData": "87", //位置变量值
"logout": false,
"posidname": "",
"posidtype": 0,//0-位置变量名固定 P001 G001 1-位置变量名不固定 P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", //位置变量名 P001 GP001 E001 GP001 I001 GI001
"type": 91,//POSCAL 在枚举数列type中为91
"userParamInt": 0,
"userParamString": ""
}
COPYPOS 复制点位
"cmd": {
"cpaxles": [
1,
2,
6
], //选择复制的轴号
"cpaxletype": 1,
"cpdposId": "GE0001", //目标位置变量名
"cpdposname": "",
"cpdpostype": 0,
"cpposId": "GP0065", //源目标变量名
"cpposname": "",
"cppostype": 0,
"logout": false,
COPYPOS 在枚举数列type中为116
"userParamInt": 0,
"userParamString": ""
}
POSADDALL 点位全加
"cmd": {
"calData": ["3", "6", "8", "5", "7", "2", "[-]", "1", "2", "3", "4", "5", "[-]", "[-]"], //坐标位置机器人本体+外部轴
"caltype": 0,//0-全加 1-全减 2-全改
"coord": "TF", //位置变量坐标系 RF-关节坐标 BF-直角坐标 TF-工具坐标 UF-用户坐标
"datatype": [0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 2, 2], //点位数据类型
"logout": false,
"posidname": "",//空为固定变量名 其余为P$INT P$GINT GP$INT GP$GINT E$INT E$GINT GE$INT GE$GINT
"posidtype": 0,//0-位置变量名固定 局部P点 全局P点 局部E点全局E点 1-位置变量名不固定 P$INT P$GINT GP$INT GP$GINT E$INT E$GINT GE$INT GE$GINT
"positionId": "GE0002", //位置变量名
"type": 138,//POSCALALL 在枚举数列type中为138
"userParamInt": 0,
"userParamString": ""
}
POSSUBALL 点位全减
json
{
"cmd": {
"calData": [
"3",
"6",
"8",
"5",
"7",
"2",
"[-]",
"1",
"2",
"3",
"4",
"5",
"[-]",
"[-]"
],
"caltype": 1,
"coord": "TF",
"datatype": [
0,
0,
0,
0,
0,
0,
2,
0,
0,
0,
0,
0,
2,
2
],
"logout": false,
"posidname": "",
"posidtype": 0,
"positionId": "GE0002",
"type": 138,
"userParamInt": 0,
"userParamString": ""
},
"pos": 1,
"robot": 1,
"savejobfile": true
}
> 坐标位置机器人本体+外部轴
> 0-全加 1-全减 2-全改
> 位置变量坐标系 RF-关节坐标 BF-直角坐标 TF-工具坐标 UF-用户坐标
> 点位数据类型
> 空为固定变量名 其余为P$INT P$GINT GP$INT GP$GINT E$INT E$GINT GE$INT GE$GINT
> 位置变量名
> POSCALALL 在枚举数列type中为138POSSETALL 点位全改
"cmd": {
"calData": ["3", "6", "8", "5", "7", "2", "[-]", "1", "2", "3", "4", "5", "[-]", "[-]"], //坐标位置机器人本体+外部轴
"caltype": 2,//0-全加 1-全减 2-全改
"coord": "TF", //位置变量坐标系 RF-关节坐标 BF-直角坐标 TF-工具坐标 UF-用户坐标
"datatype": [0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 2, 2], //点位数据类型
"logout": false,
"posidname": "",
"posidtype": 0,
"positionId": "GE0002", //位置变量名
"type": 138,//POSCALALL 在枚举数列type中为138
"userParamInt": 0,
"userParamString": ""
}
TOFFSETON 轨迹偏移开始
"cmd":
json
{
"calData": [
"34",
"35",
"36",
"37",
"38",
"39",
"40"
],
"coord": "RF",
"datatype": [
0,
0,
0,
0,
0,
0,
0
],
"logout": false,
"tool": -1,
"type": 139,
"user": -1,
"userParamInt": 0,
"userParamString": ""
}
> 轴参数 手填值范围[-50000，50000]
> 位置变量坐标系 RF-关节坐标 BF-直角坐标
> 变量类型 0-手填值 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> TOFFSETON 在枚举数列type中为139TOFFSETOFF 轨迹偏结束
"cmd":
json
{
"calData": [
"0",
"0",
"0",
"0",
"0",
"0",
"0"
],
"coord": "RF",
"datatype": [
0,
0,
0,
0,
0,
0,
0
],
"logout": false,
"tool": -1,
"type": 140,
"user": -1,
"userParamInt": 0,
"userParamString": ""
}
> TOFFSETOFF 在枚举数列type中为140READPOSMSG 读取点位信息
"cmd":
json
{
"logout": false,
"message": 0,
"positionId": "GP0041",
"type": 171,
"userParamInt": 0,
"userParamString": "",
"varName": "I042",
"varType": 0
}
> 信息读取值 0-工具号 1-用户坐标号 2-坐标系 3-姿态角度/弧度 4-形态
> 变量名 P001 GP001 E001 GE001
> READPOSMSG 在枚举数列type中为171
> 目标变量名POS_STRETCH 点位拉伸
"cmd":
json
{
"logout": false,
"position1Id": "GP0043",
"position1OutId": "GP0047",
"position2Id": "",
"position2OutId": "GP0048",
"position3Id": "GP0044",
"stretchL1": 45.0,
"stretchL2": 46.0,
"stretchType": 0,
"type": 173,
"userParamInt": 0,
"userParamString": ""
}
> 起点
> 输出起点位置，偏移后的起点位置
> 圆弧中间点
> 输出终点位置
> 终点
> 起点偏移
> 终点偏移
> 拉伸类型
> POS_STRETCH设置点位信息 SETPOSMSG
"cmd": {
"logout": false,
"posData": ["GI001", "1", "3", "GI001", "GI001"], //坐标系，角度/弧度，形态，工具号，用户坐标号
"posDataType": [1, 0, 0, 1, 1], //值类型
"posidname": "",
"posidtype": 0,
"positionId": "GP0069", //位置变量
"type": 208,
"userParamInt": 0,
"userParamString": ""
}
/以上为插入指令中的位置变量类/
/以上为插入指令中的程序控制类/
PTHREAD_START 开启线程
"cmd":
json
{
"jobName": "AVC",
"localOrGlobal": 0,
"logout": false,
"type": 88,
"userParamInt": 0,
"userParamString": ""
}
> 后台任务程序文件名
> 0-局部后台 1-全局后台
> PTHREAD_START在枚举数列type中为88PTHREAD_END 退出线程
"cmd":{
"jobName":"PPPPPP", //后台任务程序文件名
"localOrGlobal":0, //0-局部后台 1-全局后台
"logout":false, //PTHREAD_END在枚举数列type中为88
"type":89,
"userParamInt":0,
"userParamString":""
}
PAUSERUN 暂停运行
"cmd": {
"jobname": "AAA", //当选取局部后台类型时 选择的程序名
"logout": false,
"programtype": 2, //0：全部 1：主程序 2：局部后台
"type": 109,//PAUSERUN 在枚举数列type中为109
"userParamInt": 0,
"userParamString": ""
}
COUNTINUERUM 继续运行
"cmd": {
"jobname": "AAA", //局部后台的文件名称
"logout": false,
"programtype": 2, //1：主程序 2：局部后台
"type": 110, //STOPRUN 在枚举数列type中为111
"userParamInt": 0,
"userParamString": ""
}
STOPRUN 停止运行
"cmd": {
"jobname": "",//当选取局部后台类型时 选择的程序名
"logout": false,
"programtype": 0,//程序类型 0-全部程序 1-主程序 2-局部后台程序
"type": 111, //STOPRUN 在枚举数列type中为111
"userParamInt": 0,
"userParamString": ""
}
RESTRATRUN 重新运行
"cmd":{
"jobname":"", //当选取局部后台类型时 选择的程序名
"logout":false,
"programtype":0, //程序类型 0-全部程序 1-主程序 3-局部后台程序
"type":117，//RESTRATRUN 在枚举数列type中为117
"userParamInt": 0,
"userParamString": ""}
WINDOW 弹窗指令
"cmd":
json
{
"count": 3,
"logout": false,
"text1": "1",
"text2": "3",
"text3": "5",
"text4": "7",
"type": 209,
"userParamInt": 0,
"userParamString": "",
"value1": 4,
"value2": 6,
"value3": 8,
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
}
}
> 选择数量
> 提示内容
> 选项1内容
> 选项2内容
> 选项3内容
> WINDOW 弹窗指令
> 选项1对应变量值
> 选项2对应变量值
> 选项3对应变量值
> 绑定变量PTHREAD_STATE 线程状态
"cmd": {
"jobName": "XXX", //程序名称
"localOrGlobal": 0, //程序类型0：局部后台 1：全局后台 2：主程序
"logout": false,
"m_VariableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001" //存入变量类型
},
"type": 210,
"userParamInt": 0,
"userParamString": ""
}
/以上为插入指令中的程序控制类/
/以下为插入指令中的MODBUS类/
MODBUS_OPEN 打开modbus连接
"cmd":
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 211,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> MODBUS_OPEN 打开modbus连接MODBUS_CLOSE 关闭modbus连接
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 212,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> 212MODBUS_CLOSE 关闭modbus连接MODBUS_CONNECTION_STATUS MODBUS连接状态
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 213,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> 213MODBUS_CONNECTION_STATUS MODBUS连接状态
> 状态存入变量名MODBUS_READ modbus读操作
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 214,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> 读从站地址个数
> 地址类型
> 数据类型
> 数据存放的首个变量
> 从站寄存器首个地址
> 214MODBUS_READ modbus读操作MODBUS_WRITE modbus写操作
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 215,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> 写从站地址个数
> 地址类型
> 数据类型
> 数据存放的首个变量
> 写从站地址个数
> 215MODBUS_WRITE modbus写操作/以上为插入指令中的MODBUS类/
/以下为插入指令中的FINSTCP类/
FINSTCP_OPEN 打开FINSTCP连接
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 216,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> 216FINSTCP_OPEN 打开FINSTCP连接FINSTCP_CLOSE 断开FINSTCP连接
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 217,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> 217FINSTCP_CLOSE 断开FINSTCP连接FINSTCP_CONNECTION_STATUS FINSTCP连接状态
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 218,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> 工艺号
> 状态存入变量名/以上为插入指令中的FINSTCP类/
/以下为插入指令中的码垛控制类/
PALON 码垛开始
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
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},
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"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
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],
"tool": 0,
"type": 69,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
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],
"xyOpt": 0,
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}
> 工艺号
> 多重码垛 0-关闭 1-打开
> PALON 在枚举数列type中为69PALGRIPPER 切换抓手
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
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"secondvalue": 0,
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"varname": "I003"
},
"_pPalOffvarName": {
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},
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"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
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"userParamInt": 0,
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> 工艺号
> 多重码垛 0-关闭 1-打开
> 抓手2
> PALGRIPPER 在枚举数列type中为70PALENTER 码垛入口点
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
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"secondvalue": 0,
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"varname": ""
},
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"ParaLINE": {
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},
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"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
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"secondvalue": 0,
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},
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"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
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"offsetAxis": 0,
"pointVariableName": [
"[-]",
"[-]",
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"[-]",
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"[-]",
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],
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"type": 72,
"userParamInt": 0,
"userParamString": "",
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}
> 工艺号
> 多重码垛 0-关闭 1-打开
> 加速度参数 1~100
> 减速度参数 1~100
> 平滑过度参数0-5
> 提前执行 自然数
> //速度单位 0-cm/s 1-mm/s 2-%
> 速度 1~100
> 插补方式 MovJ-关节 MovL-直线 MovC-圆弧
> PLAENTER 在枚举数列type中为72
> xy路径优化 0-关闭 1-打开
> z路径优化 0-关闭 1-打开PALSHIFT 码垛辅助点
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
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"ParaACC": {
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"secondvalue": 0,
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"varname": ""
},
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},
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},
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},
"_pLayersNum": {
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"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
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"secondvalue": 0,
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"varname": ""
},
"_pSerialNum": {
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"secondvalue": 0,
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},
"_pWorkpieceSum": {
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},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
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0,
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0,
0,
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],
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"offsetAxis": 0,
"pointVariableName": [
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"[-]",
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],
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"type": 73,
"userParamInt": 0,
"userParamString": "",
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}
> 工艺号
> 多重码垛 0-关闭 1-打开
> 加速度参数 1~100
> 减速度参数 1~100
> PALSHIFT 在枚举数列type中为73
> xy路径优化 0-关闭 1-打开
> z路径优化 0-关闭 1-打开PALREAL 码垛工件点
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
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"secondvalue": 0,
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"varname": ""
},
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},
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},
"ParaTIME": {
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},
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},
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"STACKTYPE": 0,
"_pCurrentLayersNum": {
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},
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},
"_pLayersNum": {
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"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
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"secondvalue": 0,
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"varname": ""
},
"_pSerialNum": {
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"secondvalue": 0,
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},
"_pTecNUM": {
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"secondvalue": 0,
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},
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},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
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],
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"offsetAxis": 0,
"pointVariableName": [
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],
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"userParamInt": 0,
"userParamString": "",
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],
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}
> 工艺号
> 多重码垛 0-关闭 1-打开
> PALREAL 在枚举数列type中为74PALCLEAR 码垛复位
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
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"secondvalue": 0,
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},
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},
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},
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},
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},
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},
"Posture": 0,
"STACKTYPE": 0,
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},
"_pLayNum": {
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},
"_pLayersNum": {
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"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
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"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
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"secondvalue": 0,
"value": 0,
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},
"_pWorkpieceSum": {
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"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariableType": [
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],
"m_pointVariableType": [
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0,
0,
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0,
0,
0,
0,
0,
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],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariableName": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 75,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> 工艺号
> 多重码垛 0-关闭 1-打开
> PALCLEAR 在枚举数列type中为75PALOFF 码垛结束判断
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
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"secondvalue": 0,
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"varname": ""
},
"ParaLINE": {
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},
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},
"ParaSTRAIGHT": {
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},
"ParaTIME": {
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},
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"m_vUnit": 1,
"secondvalue": 0,
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"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
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"varname": "I004"
},
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"varname": ""
},
"_pLayersNum": {
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"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
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"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariableType": [
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0,
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],
"m_pointVariableType": [
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0,
0,
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0,
0,
0,
0,
0,
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],
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"offsetAxis": 0,
"pointVariableName": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 76,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> 工艺号
> 多重码垛 0-关闭 1-打开
> 结束判断变量名 [-]-无 B001 GB001
> PALOFF 在枚举数列type中为76PAL_POS 获取工件点位
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
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},
"ParaLINE": {
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"varname": ""
},
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},
"ParaSTRAIGHT": {
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"varname": ""
},
"ParaTIME": {
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"value": 0,
"varname": ""
},
"ParaV": {
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"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
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"value": 1,
"varname": "I004"
},
"_pLayNum": {
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"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
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"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
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"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
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"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariableType": [
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"m_pointVariableType": [
0,
0,
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"offsetAxis": 0,
"pointVariableName": [
"[-]",
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"[-]",
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],
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"type": 222,
"userParamInt": 0,
"userParamString": "",
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"",
""
],
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}
> 工艺号
> 多重码垛 0-关闭 1-打开
> PAL_POS 获取工件点位 在枚举数列type中为222PALSIMPLESET 简易码垛
"cmd":
json
{
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"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
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"varname": ""
},
"ParaPL": {
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"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
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},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariableType": [
0,
0,
0
],
"m_pointVariableType": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariableName": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 223,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> 工艺号
> 多重码垛 0-关闭 1-打开
> PALSIMPLESET 简易码垛 在枚举数列type中为223/以上为插入指令中的码垛控制类/
/以下为插入指令中的焊接控制类/
ARCON 焊接开始 ARCOFF焊接结束 ARCSET焊接结束 WVON摆焊开始 WVOFF摆焊结束 FEEDWIRE送丝 REFP摆焊参考点 SPOTWELD点焊
"cmd":{
"anamorphismFlag":0,//使用起弧渐变
"arcParameterId":1, //要使用的焊接参数工艺号
"current":0.0,//设置焊接电流
"feedtime":0.0,//延时时间，送丝时间
"generatingOfArcAgainFlag":0,//使用再起弧
"generatingOfArcCurrent":99999.0, //起弧电流
"generatingOfArcTime":99999.0, //起弧时间
"generatingOfArcVoltage":1.0, //起弧电压
"logout":false, //是否注销
"positionId":"", //位置ID
"preventStickingWireFlag":0,//防粘丝
"quenchingAnamorphismFlag":0,//灭弧渐变
"quenchingOfArcCurrent":99999.0,//灭弧电流
"quenchingOfArcTime":99999.0,//收弧时间
"quenchingOfArcVoltage":99999.0, //灭弧电压
"refpPointNum":0, //REFP参考点
"startUpAgainFlag":0, //使用再启动
ARCON 在枚举数列type中为23
"useTemp":1, //临时参数，1：使用临时参数，0：不使用
"userParamInt":0, //
"userParamString":"", //
"voltage":0.0, //设置焊接电压
"weldCurrent":99999.0,//焊接电流
"weldVoltage":99999.0,//焊接电压
"RobotPos"😕/REFP指令时存在
json
{"ctype":1,
"data":[1.0,1.0,0.0,0.0,0.0,0.0,0.0,36.0,0.0,6.0,3.141590,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0002",
"paraVarData":
[{"data":1.0,
"secondvalue":0,
"value":0,
"varname":""
},{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":36.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":6.0,"secondvalue":0,"value":0,"varname":""},{"data":3.141590,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""}]},}
CIL 相贯线
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 1,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "P0001",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 1,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "P0001",
"radius": 0.0,
"side": 0.0,
"type": 28,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> 加速度参数 1~100
> 减速度参数 1~100
> 平滑等级 [0,5]
> 提前执行时间 ms
> 局部位置变量/全局位置变量 P0001 GP0001
> 移动坐标：关节坐标RF、直角坐标BF、工具坐标TF、用户坐标UF
> CIL 在枚举数列type中为28TIGWELDON 鱼鳞焊开始
"cmd":{
"l2":5.0, //空走距离 [0.01,9999] 单位:mm
"logout":false,
"timeOFTIG":1.0, //点焊时间 [0.01,10] 单位：s 电焊距离 [0.1,9999] 单位：mm
"type":65, //TIGWELDON 在枚举数列type中为65
"typeOFTIG":1,//1-按点焊时间设置 2-按点焊距离设置
"userParamInt":0,
"userParamString":""
}
TIGWELDOFF 鱼鳞焊结束
执行该指令后结束鱼鳞焊轨迹
"cmd":{
"l2":0.0, //空走距离 [0.01,9999] 单位:mm
"logout":false,
"type":66, //TIGWELDOFF 在枚举数列type中为66
"userParamInt":0,
"userParamString":""
}
ARCBUILTIN 焊机内置工艺
"cmd":
json
{
"ID": 1,
"Value": [
5.0,
6.0,
7.0,
8.0,
9.0
],
"logout": false,
"type": 168,
"userParamInt": 0,
"userParamString": ""
}
> 内置工艺号
> 参数ABCDE
> ARCBUILTIN在枚举数列type中为168WELDPATHSTART初始焊道记录开始
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 176,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> WELDPATHSTART在枚举数列type中为176WELDPATHSTOP初始焊道记录结束
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 177,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> WELDPATHSTOP在枚举数列type中为177WELDPATHOFFSET焊道偏移计算
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 178,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> A轴偏移
> B轴偏移
> C轴偏移
> 计算结果存入
> WELDPATHOFFSET在枚举数列type中为178
> X轴偏移
> Y轴偏移
> Z轴偏移WELDPATHCOUNT 焊道数计算
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 179,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> 计算结果存入变量类型
> A轴偏移
> B轴偏移
> C轴偏移
> 计算结果存入
> WELDPATHCOUNT 在枚举数列type中为179
> 选择使用焊道
> X轴偏移
> Y轴偏移
> Z轴偏移STARTOFFSETWELD 运行偏移焊道
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 180,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> A轴偏移
> B轴偏移
> C轴偏移
> STARTOFFSETWELD 在枚举数列type中为180
> X轴偏移
> Y轴偏移
> Z轴偏移GOTO_WELD_START_POS 运行焊接初始点
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 180,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> A轴偏移
> B轴偏移
> C轴偏移
> STARTOFFSETWELD 在枚举数列type中为180
> X轴偏移
> Y轴偏移
> Z轴偏移/以上为插入指令中的焊接控制类/
/以下为插入指令中的视觉命令类/
VISION_RUN 视觉开始
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 77,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号
> VISION_RUN 在枚举数列type中为77
> 二次开发自定义节点
> 二次开发自定义节点VISION_TRG 视觉触发
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 78,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号
> 是否注销
> VISION_TRG 在枚举数列type中为78
> 二次开发自定义节点
> 二次开发自定义节点VISION_POSNUM 获取视觉位置个数
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 79,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号
> 全局数值变量 1-99整数
> VISION_RUN 在枚举数列type中为79
> 二次开发自定义节点
> 二次开发自定义节点VISON_POS 获取视觉个数
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 80,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号
> 全局位置变量 1-9999整数
> VISON_POS 在枚举数列type中为80
> 二次开发自定义节点
> 二次开发自定义节点VISION_CLEAR 清除视觉位置信息
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 81,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号
> VISION_CLEAR 在枚举数列type中为81
> 二次开发自定义节点
> 二次开发自定义节点VISION_END 视觉结束
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 82,
"userParamInt": 0,
"userParamString": ""
}
> 工艺号
> VISION_END 在枚举数列type中为82
> 二次开发自定义节点
> 二次开发自定义节点/以上为插入指令中的视觉命令类/
/以下为插入指令中的激光类/
LASER_ON 激光开始
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 59,
"userParamInt": 0,
"userParamString": ""
}
> 激光工艺号1-9
> LASER_ON 在枚举数列type中为59LASER_OFF 激光结束
json
{
"cmd":
{
"ID":1,
"logout":false,
"type":60,
"userParamInt":0,
"userParamString":""
}
LASER_CIRCLE 切割圆
"cmd":
{
"ParaACC":{"data":4.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":3.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaSPIN":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaSYNC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":6.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":2.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":
{
"ctype":1,
"data":[0.0,0.0,0.0,7.0,8.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0001",
"paraVarData":[{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":7.0,"secondvalue":0,"value":0,"varname":""},{"data":8.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""}]},
"ctype":0,
"imovecoord":"UF",
"length":0.0,
"logout":false,
"margin":5.0,
"offsetAxis":0,
"para":0,
"polish":0,
"polishAngle":0.0,
"polishID":1,
"posidname":"",
"posidtype":0,
"positionId":"P0001",
"radius":1.0,
"side":0.0,
"type":61,
"userParamInt":0,
"userParamString":"",
"width":0.0
}
#### /**********************以上为插入指令中的激光类**********************/
#### /**********************以上为插入指令中的传送带类**********************/
#### CONVEYOR_CHECKPOS 传送带工件检测开始
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":105,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_CHECKEND 传送带工件检测结束
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":106,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_ON 传送带跟踪开始
"cmd":
{
"ID":3,
"ParaACC":{"data":5.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":4.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":
{
"ctype":1,
"data":[1.0,1.0,8.0,6.0,7.0,0.0,0.0,19998.0,0.0,19998.0,3.141590,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0002",
"paraVarData":[{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":8.0,"secondvalue":0,"value":0,"varname":""},{"data":6.0,"secondvalue":0,"value":0,"varname":""},{"data":7.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"secondvalue":0,"value":0,"varname":""},{"data":3.141590,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""}]},
"logout":false,
"m_positionId":"P0002",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":103,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_OFF 传送带跟踪结束
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":104,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_POS 获取传送带跟踪位置
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":172,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_CLEAR 删除传送带跟踪目标
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":221,
"userParamInt":0,
"userParamString":""
}
#### /**********************以上为插入指令中的传送带类**********************/
#### /**********************以下为插入指令中的喷涂工艺类**********************/
#### SPRAY_ON 喷涂开始
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":120,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_OFF 喷涂结束
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":121,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_CHANGE 喷涂换色
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":122,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_MOVE 喷涂轨迹
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":123,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_STARTPOS 喷涂起始位置
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":124,
"userParamInt":0,
"userParamString":""
}
#### /**********************以上为插入指令中的喷涂工艺类**********************/
#### /**********************以下为插入指令中的打磨工艺类**********************/
#### POLISH_EDGE 棱边打磨
"cmd":
{
"ParaACC":{"data":4.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":5.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":3.0,"secondvalue":0,"value":0,"varname":""},
"ParaSPIN":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaSYNC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":6.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":2.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":
{
"ctype":1,
"data":[1.0,1.0,3.0,5.0,4.0,0.0,0.0,19998.0,0.0,19998.0,3.141592653590,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0002",
"paraVarData":[{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":3.0,"secondvalue":0,"value":0,"varname":""},{"data":5.0,"secondvalue":0,"value":0,"varname":""},{"data":4.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"secondvalue":0,"value":0,"varname":""},{"data":3.141592653590,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""}]},
"ctype":0,
"imovecoord":"UF",
"length":0.0,
"logout":false,
"margin":0.0,
"offsetAxis":0,
"para":0,
"polish":8,
"polishAngle":7.0,
"polishID":9,
"posidname":"",
"posidtype":0,
"positionId":"P0002",
"radius":0.0,
"side":0.0,
"type":107,
"userParamInt":0,
"userParamString":""
}
#### POLISH_CONTINUE 继续打磨
"cmd":
{
"angle":12,
"logout":false,
"polishID":10,
"time":13,
"times":11,
"type":129,
"userParamInt":0,
"userParamString":""
}
#### POLISH_OFF 结束打磨
"cmd":
{
"angle":0,
"logout":false,
"polishID":14,
"time":0,
"times":0,
"type":130,
"userParamInt":0,
"userParamString":""
}
#### /**********************以上为插入指令中的打磨工艺类**********************/
#### /**********************以下为插入指令中的寻位跟踪类**********************/
#### LASERTRACK_ON 激光追踪开始
"cmd":
{
"ID":1,
"delay":3.0,
"logout":false,
"segmentParam":2,
"type":83,
"userParamInt":0,
"userParamString":""
}
#### LASERTRACK_OFF 激光追踪结束
"cmd":
{
"ID":1,
"delay":3.0,
"logout":false,
"segmentParam":2,
"type":84,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_START 寻位开始
"cmd":
{
"ID":5,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":0,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"",
"position2Id":"",
"position3Id":"",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":149,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_STATIC 静态寻位
"cmd":
{
"ID":5,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":0,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"",
"position2Id":"",
"position3Id":"",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":149,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_DYNAMIC 动态寻位
"cmd":
{
"ID":1,
"ParaACC":
{
"data":10.0,
"secondvalue":0,
"value":0,
"varname":""
},
"ParaPL":{"data":1.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":10.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":{"ctype":1,"data":[0.0,0.0,8.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0001",
"paraVarData":[{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":8.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""}]},
"artifactType":0,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"P0001",
"position2Id":"",
"position3Id":"",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":151,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_CALC 寻位计算
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":152,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_END 寻位结束
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":153,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_OFFSET 寻位偏移
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":154,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_OFFSETEND 寻位偏移结束
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":155,
"userParamInt":0,
"userParamString":""
}
#### ARCTRACKON 电弧跟踪开始
"cmd":
{
"ID":16,
"isArcTracking":true,
"logout":false,
"type":156,
"userParamInt":0,
"userParamString":""
}
#### ARCTRACKOFF 电弧跟踪结束
"cmd":
{
"ID":17,
"isArcTracking":false,
"logout":false,
"type":157,
"userParamInt":0,
"userParamString":""
}
#### /**********************以上为插入指令中的寻位跟踪类**********************/
### 指令的增删查改
#### 修改指令
*0x3122 JOB_MODIFY_INSTR
{
"pos":1,
"cmd":{ cmd->toJson() }
"paraFlag": 0,
"time":"2020.02.26 10:11:06"
"savejobfile":false
}
"cmd":{
"RobotPos":{"ctype":69,
"data":[0.0,0.0,8.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":4521986},
"acc":2.0,
"ctype":0,
"dec":10.0,
"imovecoord":"UF",
"length":0.0,
"logout":false,
"margin":0.0,
"para":0,
"pl":0.0,
"polish":0,
"polishAngle":0.0,
"polishID":1,
"positionId":4521986,
"radius":0.0,
"side":0.0,
"spin":0,
"sync":0,
"time":0,
"type":57,
"vUnit":1,
"velocity":10.0,
"userParamInt":0,
"userParamString":"",
"width":0.0},
"paraFlag":1,
"pos":4,
"robot":1,
"time":"2021.04.15 00:04:15"
}
> LASER_OFF 在枚举数列type中为60
> 加速度
> 减速度
> ms
> 补差
> 中心点
> LASER_CIRCLE 在枚举数列type中为61
> 工艺号1-9
> CONVEYOR_CHECKPOS 在枚举数列type中为105
> 工艺号1-9
> CONVEYOR_CHECKEND 在枚举数列type中为106
> 工艺号
> ACC 1-100
> V 2-1000
> CONVEYOR_ON 在枚举数列type中为103
> 工艺号1-9
> CONVEYOR_OFF 在枚举数列type中为104
> 工艺号1-9
> 全局位置变量
> CONVEYOR_POS 在枚举数列type中为172
> 工艺号1-9
> 删除范围 0：全部目标 1：本次目标
> CONVEYOR_CLEAR 在枚举数列type中为221
> 模拟量组号
> 雾化模拟量
> 流量模拟量
> 枪
> 扇化模拟量
> 时序组号
> SPRAY_ON在枚举数列type中为120
> 模拟量组号
> 雾化模拟量
> 流量模拟量
> 枪
> 扇化模拟量
> 时序组号
> SPRAY_OFF在枚举数列type中为121
> 模拟量组号
> 雾化模拟量
> 颜色1-10
> 流量模拟量
> 枪
> 扇化模拟量
> 时序组号
> SPRAY_CHANGE在枚举数列type中为122
> 喷涂加速度
> 喷涂减速度
> 喷涂PL 0-5
> 喷涂速度，2-1000mm/s
> 模拟量组号
> 雾化模拟量
> 流量模拟量
> 枪
> 扇化模拟量
> 时序组号
> 轨迹组号1-99
> SPRAY_MOVE 在枚举数列type中为123
> 变姿加速度
> 变姿减速度
> 提前执行，自然数ms
> 速度2-1000mm/s
> 模拟量组号
> 雾化模拟量
> 流量模拟量
> 枪
> 扇化模拟量
> 时序组号
> 轨迹组号
> SPRAY_STARTPOS 在枚举数列type中为124
> ACC 比率（1-100）
> DEC 比率（1-100）
> PL 范围（0-5）
> V 范围1-1000
> 点位
> 打磨次数1-99
> 打磨角度-180-180
> ID 1-99
> 点位
> POLISH_EDGE 在枚举数列type中为107
> 角度-180-180
> 工艺号1-99
> 提前执行，自然数ms
> 次数1-99
> POLISH_CONTINUE 在枚举数列type中为129
> 工艺号
> POLISH_OFF 在枚举数列type中为130
> 跟踪文件号1-99
> 参数表延时0-10
> 跟踪参数表号1-99
> LASERTRACK_ON 在枚举数列type中为83
> 跟踪文件号1-99
> LASERTRACK_OFF 在枚举数列type中为84
> 寻位文件号
> SEARCH_START 在枚举数列type中为149
> 寻位文件号
> 参数表延时0-10
> 输出位置
> 寻位参数表号1-99
> SEARCH_START 在枚举数列type中为149
> SEARCH_DYNAMIC 在枚举数列type中为151
> 点1
> 点2
> 点3
> 点4
> 点5
> 点6
> 输出结果
> SEARCH_CALC 在枚举数列type中为152
> 寻位文件号
> SEARCH_END 在枚举数列type中为153
> 偏移量
> SEARCH_OFFSET 在枚举数列type中为154
> SEARCH_END 在枚举数列type中为155
> 跟踪文件名
> true：电压，false：弧压
> ARCTRACKON 在枚举数列type中为156
> 跟踪文件名
> true：电压，false：弧压
> ARCTRACKOFF 在枚举数列type中为157
> 修改指令索引
> 修改入指令json列表
> 0：默认，1：批量修改，2：批量修改结束
> std::localtime
> 修改单条指令，采取0x3123删除现有指令然后0x3121重新在当前行插入修改后指令
> 批量修改
> 加速度调整比率(1~100)
> 减速度调整比率(1~100)
> 移动坐标：关节坐标RF、直角坐标BF、工具坐标TF、用户坐标UF
> 长度
> 边缘
> 定位等级，范围0~5
> 打磨次数(1~99)
> 打磨角度(-180~+180)
> 打磨ID(1~99)
> 位置名称
> 半径参数
> 姿态参数 0=姿态不变 1=六轴不转 2=六轴旋转
> 机器人与外部轴是否同步 0 = 否，1 = 是
> 提前执行，自然数(ms)
> MOVCADOUBLE 在枚举数列type中为57
> 速度单位：0=cm/s 1=mm/s 2=百分比
> 速度
> 0：默认，1：批量修改，2：批量修改结束删除指令
*0x3123 JOB_ERASE_INSTR
json
{
"robot":1,
"pos":1,
"time":"2020.02.26 10:11:06"
"savejobfile":false
}
> 修改指令索引
> std::localtime插入Position
*0x3124 JOB_INSERT_POS
json
{
"robot": 1,
"robotpos": {
"ctype": 1,
"data": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"key": "P0014",
"paraVarData": [
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"time": "2024.06.19 11:08:48"
}
> 当前机器人号
> E类型
> 共二十一位，第一二位表示坐标 第三位 左右手 1-左 2-右，第4，5位备用 第6，7位备用，第8位及后面保存坐标值(14位 7+7)
> 点位
> 共二十一位，第一二位表示坐标 第三位 左右手 1-左 2-右，第4，5位备用 第6，7位备用，第8位及后面保存坐标值(14位 7+7修改Positon
*0x3125 JOB_MODIFY_POS
json
{
"robot": 1,
"robotpos":
{
"ctype": 1,
"data": [
1,
1,
8,
0,
0,
0,
0,
205.798,
-0.1,
964.486,
-3.141,
0.523,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"key": "P00014",
"paraVarData": [
{
"data": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 205.798,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": -0.1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 964.486,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": -3.141,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.523,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"time": "2024.06.19 11:23:25"
}
> 当前机器人
> 局部变量--修改点位 点位类型 机器人P-80，带变位机E-69
> 类型
> 共二十一位，第一二位表示坐标 第三位 左右手 1-左 2-右，第4，5位备用 第6，7位备用，第8位及后面保存坐标值(14位 7+7）
> 共二十一位，第一二位表示坐标 第三位 左右手 1-左 2-右，第4，5位备用 第6，7位备用，第8位及后面保存坐标值(14位 7+7）修改局部数值变量
*0x3127 JOB_MODIFY_VALUEVAR
json
{
"robot": 1,
"varType": 1,
"varName": "D002",
"varValue": 3.3,
"time": "2020.02.26 10:11:06"
}
> int=0, double=1, Boolean=2类型String
json
{
"robot": 1,
"varName": "S007",
"varString": "data",
"varType": 3
}指令跳转
当控制器运行完一条指令时，向示教器发送跳转：
*0x3501 INSTRUCTION_COMPLETION
- 命令字：0x2304 DEADMAN_MODE_SET
json
{
"robot":1,
"jobname":"Q1"
"num":3
}注："robot": 表示机器人1，2，3，4
"jobname": 作业文件名称
"num": 行号
当控制器执行CRAFTLINE指令时，向示教器发送跳转：
*0x3502 CRAFT_JUMP_LINE_NUM
- 命令字：0x2304 DEADMAN_MODE_SET
json
{
"robot":1,
"num":2
}注："robot": 表示机器人1，2，3，4
"num": 行号
当示教器与控制器建立网络连接时，示教器查询当前运行到哪一行：
*0x3503 INSTRUCTION_SHOW_INQUIRE
- 命令字：0x2304 DEADMAN_MODE_SET
json
{
"robot":1
}注："robot": 表示机器人1，2，3，4
控制器返回查询结果：
*0x3504 INSTRUCTION_SHOW_RESPOND
- 命令字：0x2304 DEADMAN_MODE_SET
json
{
"robot": 1,
"jobname": "Q1",
"num": 3
}注："robot": 表示机器人1，2，3，4
"jobname": 作业文件名称
"num": 行号
- 命令字：0x2304 DEADMAN_MODE_SET