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指令-运动控制类 ​

外部轴运动 ​

说明：与外部轴有关的运动指令，必须是在存在外部轴的前提下才可以使用。

MOVJEXT - 外部轴点到点运动 ​

指令类型：type = 33

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaEVJdouble[1, 100]-外部轴速度调整比率；值为字符串"0"时表示不使用
ParaVdouble[1, 100]%速度（m_vUnit必须为2）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释；true：在作业文件中将不执行该指令
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量；1：绑定变量，0：非绑定变量
RobotPosobject--点位信息（当使用绑定变量点位时，不使用该节点）

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s
2百分比（仅可使用2）

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaEVJ": {
        "data": 0.0,
        "secondvalue": 1,
        "value": 1,
        "varname": "GI[I001]"
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 33,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

MOVLEXT - 外部轴直线运动 ​

指令类型：type = 34

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaEVJdouble[1, 100]-外部轴速度调整比率；值为字符串"0"时表示不使用
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
ParaSYNCint0或1-变位机同步；0：否，1：同步
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaEVJ": {
        "data": 0.0,
        "secondvalue": 1,
        "value": 1,
        "varname": "GI[I001]"
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaSYNC": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 34,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

MOVCEXT - 外部轴圆弧运动 ​

指令类型：type = 35

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaEVJdouble[1, 100]-外部轴速度调整比率；值为字符串"0"时表示不使用
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
ParaSYNCint0或1-变位机同步；0：否，1：同步
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaEVJ": {
        "data": 0.0,
        "secondvalue": 1,
        "value": 1,
        "varname": "GI[I001]"
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaSYNC": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 35,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

EXTMOV - 外部轴随动运动 ​

指令类型：type = 144

参数说明 ​

参数名类型取值范围说明
_pVarNamedouble[-2000, 0) ∪ (0, 2000]速度值
extaxleint1, 2, 3外部轴编号；1：O1，2：O2，3：O3
movtypeint0, 1, 2外部轴随动方式；0：随线速度动，1：恒速运动，2：绑定变量
p_move_typeobject-当movtype为2时，绑定的变量为该节点
logoutbooltrue/false是否被注释
userParamIntint-二次开发中客户自定义，目前无意义
userParamStringstring-二次开发中客户自定义，目前无意义

示例 ​

json
{
    "_pVarName": {
        "data": 2.90,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "extaxle": 1,
    "logout": false,
    "movtype": 2,
    "p_move_type": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 1,
        "varname": "I001"
    },
    "p_speed_proportion_factor": {
        "data": 1.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "type": 144,
    "userParamInt": 0,
    "userParamString": ""
}

ENDEXTMOV - 外部轴随动停止运动 ​

指令类型：type = 145

参数说明 ​

参数名类型说明
logoutbool是否被注释
userParamIntint二次开发中客户自定义，目前无意义
userParamStringstring二次开发中客户自定义，目前无意义

示例 ​

json
{
    "logout": false,
    "type": 145,
    "userParamInt": 0,
    "userParamString": ""
}

GEARIN - 电子齿轮 ​

指令类型：type = 148

参数说明 ​

参数名类型取值范围说明
followAxleint1, 2, 3随动轴；1=O1，2=O2，3=O3
mainAxleint1-6主轴；J1~J6轴对应1-6
proportionfactordouble(0, 1000]比例关系(k)；随动轴速（°/s）=K*主轴速（°/s）
logoutbooltrue/false是否被注释
userParamIntint-二次开发中客户自定义，目前无意义
userParamStringstring-二次开发中客户自定义，目前无意义

示例 ​

json
{
    "followAxle": 1,
    "logout": false,
    "mainAxle": 2,
    "proportionfactor": 3.0,
    "type": 148,
    "userParamInt": 0,
    "userParamString": ""
}

ENDGEARIN - 电子齿轮停止 ​

指令类型：type = 150

参数说明 ​

参数名类型说明
logoutbool是否被注释
userParamIntint二次开发中客户自定义，目前无意义
userParamStringstring二次开发中客户自定义，目前无意义

示例 ​

json
{
    "logout": false,
    "type": 150,
    "userParamInt": 0,
    "userParamString": ""
}

MRESET - 复位外部轴多圈转动量 ​

指令类型：type = 149

参数说明 ​

参数名类型取值范围说明
exterAxisint0, 1, 2, 3外部轴个数；0为全部轴，1=O1，2=O2，3=O3
logoutbooltrue/false是否被注释
userParamIntint-二次开发中客户自定义，目前无意义
userParamStringstring-二次开发中客户自定义，目前无意义

示例 ​

json
{
    "logout": false,
    "type": 149,
    "userParamInt": 0,
    "userParamString": "",
    "exterAxis": 1
}

双机运动 ​

说明：需要先设置成双机模式。

MOVJDOUBLE - 双机点到点运动 ​

指令类型：type = 59

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaVdouble[1, 100]%速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 59,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

MOVLDOUBLE - 双机直线运动 ​

指令类型：type = 56

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 56,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

MOVCDOUBLE - 双机圆弧运动 ​

指令类型：type = 57

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 57,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

MOVCADOUBLE - 双机整圆运动 ​

指令类型：type = 58

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaSPINint0, 1, 2-姿态参数；0：姿态不变，1：六轴不转，2：六轴旋转
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaSPIN": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 58,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

外部点运动 ​

说明：使用MODBUS或者TCP发送过来的点位信息来运动。

MOVCOMM - 外部点运动 ​

指令类型：type = 101

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaVdouble[2, 1000]或[1, 100]mm/s或%速度；根据m_vUnit和moveType确定范围
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
moveTypestringMovJ/MovL/MovS/MovC-插补方式；MovJ:关节，MovL:直线，MovS:曲线，MovC:圆弧
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义

m_vUnit 速度单位说明 ​

m_vUnit值单位适用插补方式速度范围
1mm/s直线、曲线、圆弧[2, 1000]
2%关节[1, 100]

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "type": 101,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "moveType": "MovS"
}

拖拽轨迹运动 ​

说明：使用原本的拖拽轨迹来运动。

DRAG_TRAJECTORY - 拖拽轨迹 ​

指令类型：type = 174

参数说明 ​

参数名类型取值范围单位说明
trackNamestring--轨迹名称；开头##，结束$$
trackSpeeddouble0~500%轨迹回放速率
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义

示例 ​

json
{
    "logout": false,
    "type": 174,
    "userParamInt": 0,
    "userParamString": "",
    "trackName": "##RRR$$",
    "trackSpeed": 3
}

切换负载编号 ​

说明：不切换工具手，只切换负载编号。

SWITCHPAYLOAD - 切换负载编号 ​

指令类型：type = 219

参数说明 ​

参数名类型取值范围说明
_pVarNameobject-负载编号参数
logoutbooltrue/false是否被注释
userParamIntint-二次开发中客户自定义，目前无意义
userParamStringstring-二次开发中客户自定义，目前无意义

负载编号范围 ​

范围说明
1-999int类型

示例 ​

json
{
    "logout": false,
    "type": 219,
    "userParamInt": 0,
    "userParamString": "",
    "_pVarName": {
        "data": 1.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    }
}

外部基准点运动 ​

说明：外部基准点是指将空间中的一点作为本体的控制点。

EIMOVL - 外部基准点直线 ​

指令类型：type = 233

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 233,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

EIMOVC - 外部基准点圆弧 ​

指令类型：type = 233

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 233,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

EIMOVCA - 外部基准点整圆 ​

指令类型：type = 235

参数说明 ​

参数名类型取值范围单位说明
ParaACCdouble[1, 100]%加速度
ParaDECdouble[1, 100]%减速度
ParaSPINint0-姿态参数；0：姿态不变
ParaVdouble[1, 1000]mm/s速度（m_vUnit必须为1）
ParaPLdouble[0, 5]-平滑
ParaTIMEdouble自然数-提前执行时间
logoutbooltrue/false-是否被注释
userParamIntint--二次开发中客户自定义，目前无意义
userParamStringstring--二次开发中客户自定义，目前无意义
posidnamestring--绑定变量时的点位名
positionIdstring--非绑定变量时的点位名
posidtypeint0或1-点位是否为绑定变量
RobotPosobject--点位信息

m_vUnit 速度单位说明 ​

值说明
0cm/s
1mm/s（仅可使用1）
2百分比

示例 ​

json
{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
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