指令-通用运动

1. MOVJ 点到点运动

说明：点到点运动为关节运动，单位为%。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,100]	%	速度，m_vUnit必须为2
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
type	int	1	-	指令类型，1表示MOVJ指令
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": "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": 1,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

2. MOVL 直线运动

说明：直线运动速度单位为mm。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,1000]	mm/s	速度，m_vUnit必须为1
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
type	int	2	-	指令类型，2表示MOVL指令
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

m_vUnit 速度单位说明

值	单位
0	cm/s
1	mm/s
2	百分比

直线运动时只能使用 1 (mm/s)。

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": 2,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

3. MOVC 圆弧运动

说明：使用时需要一条直线或点到点指令和两条圆弧指令，这三个点确定一个圆弧。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,1000]	mm/s	速度，m_vUnit必须为1
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
ParaSPIN	double	0或1	-	姿态参数：0=示教姿态，1=姿态倾角不变
type	int	3	-	指令类型，3表示MOVC指令
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": ""
    },
    "ParaSPIN": {
        "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": 3,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

4. MOVCA 插入整圆

说明：整圆运动需要一条点到点或者直线运动，加两个整圆运动指令。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,1000]	mm/s	速度，m_vUnit必须为1
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
ParaSPIN	double	0,1,2	-	姿态参数：0=姿态不变，1=六轴不转，2=六轴旋转
type	int	4	-	指令类型，4表示MOVCA指令
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": ""
    },
    "ParaSPIN": {
        "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": 4,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

5. MOVS 插入曲线

说明：曲线运动为S型运动轨迹，需要一条点到点或直线指令，再加四条曲线运动指令。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,1000]	mm/s	速度，m_vUnit必须为1
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
type	int	6	-	指令类型，6表示MOVS指令
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": ""
    },
    "ParaSPIN": {
        "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": 6,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

6. IMOV 增量运动

说明：增量运动为在当前位置的基础上，各轴增加多少。此时的点位信息为各轴增加多少。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,100]	%	速度，m_vUnit必须为2
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
type	int	5	-	指令类型，5表示IMOV指令
imovecoord	string	-	-	移动坐标：RF=关节坐标，BF=直角坐标，TF=工具坐标，UF=用户坐标
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": "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": 5,
    "logout": false,
    "imovecoord": "RF",
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

7. MOVARCH 门型运动

说明：门型运动为从当前位置抬升或降低到指定高度，随后在该平面上移动到目标点的上方或下方，最后抬升或降低到目标点。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,1000]	mm/s	速度，m_vUnit必须为1
ParaSPIN	double	[0,1]	-	关节运动方式：0=关节，1=直角
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
type	int	231	-	指令类型，231表示MOVARCH指令
offsetAxis	int	[0,2]	-	位移轴：0=X，1=Y，2=Z
para_line_or_coord_max_	double	-	-	最大坐标值或最大高度值
axis_offset_type_	int	0或1	-	偏移方式：1=最大坐标，0=最大高度
para_straight_up_	double	-	-	垂直上升距离
para_straight_down_	double	-	-	垂直下降距离
use_arch_params_table_enable_	int	0或1	-	是否使用参数表
arch_param_group_index_	int	[0,6]	-	参数表组号
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": ""
    },
    "ParaSPIN": {
        "data": 0,
        "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": 231,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0,
    "offsetAxis": 0,
    "para_line_or_coord_max_": 0.0,
    "axis_offset_type_": 1,
    "para_straight_up_": 0.0,
    "para_straight_down_": 0.0,
    "use_arch_params_table_enable_": 0,
    "arch_param_group_index_": 0
}

8. MOVARCHEXT 扩展门型运动

说明：门型运动为从当前位置抬升或降低到指定高度，随后在该平面上移动到目标点的上方或下方，最后抬升或降低到目标点。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[1,1000]	mm/s	速度，m_vUnit必须为1
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
type	int	275	-	指令类型，275表示MOVARCHEXT指令
offsetAxis	int	[0,2]	-	位移轴：0=X，1=Y，2=Z
para_straight_up_	double	-	-	垂直上升距离
para_straight_down_	double	-	-	垂直下降距离
use_arch_params_table_enable_	int	0或1	-	是否使用参数表
arch_param_group_index_	int	[0,6]	-	参数表组号
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

点位信息说明

RobotPos：目标点点位信息
RobotPos1：接近点点位信息
RobotPos2：转移点点位信息

当使用绑定变量点位时，不使用对应节点。

JSON 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": 275,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0,
    "offsetAxis": 0,
    "para_straight_up_": 0.0,
    "para_straight_down_": 0.0,
    "use_arch_params_table_enable_": 0,
    "arch_param_group_index_": 0
}

9. SPEED 全局速度

说明：可使用该指令设置全局速度。

参数说明

参数名	类型	取值范围	单位	说明
type	int	31	-	指令类型，31表示SPEED指令
paraSpeed	int	[1,200]	%	全局速度
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数

JSON 示例

json

{
    "type": 31,
    "paraSpeed": {
        "data": 150.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "logout": false,
    "userParamInt": 0,
    "userParamString": ""
}

10. SAMOV 定点移动

说明：定点移动可以使用不同的坐标系移动。

参数说明

参数名	类型	取值范围	单位	说明
ParaACC	double	[1,100]	%	加速度
ParaDEC	double	[1,100]	%	减速度
ParaV	double	[2,1000]	mm/s	速度，m_vUnit必须为1
ParaPL	double	[0,5]	-	平滑变量
ParaTIME	double	自然数	-	提前执行时间
type	int	59	-	指令类型，59表示SAMOV指令
imovecoord	string	-	-	移动坐标：RF=关节坐标，BF=直角坐标，TF=工具坐标，UF=用户坐标
logout	bool	-	-	是否被注释，true表示不执行
userParamInt	int	-	-	二次开发自定义参数
userParamString	string	-	-	二次开发自定义参数
posidname	string	-	-	绑定变量时的点位名
positionId	string	-	-	非绑定变量时的点位名
posidtype	int	0或1	-	点位类型：1=绑定变量，0=非绑定变量

RobotPos 点位信息

当使用绑定变量点位时，不使用该节点。

JSON 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": "AP0001",
        "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,
    "imovecoord": "RF",
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

01.自定义指令

01.示教器实现

02.控制器实现

01.渐入式教程

03.接口示例

01.基础应用

02.进阶应用

01.渐入式教程

02.接口示例

01.渐入式教程

02.接口示例

01.基础应用

02.进阶应用

02.6000 端口通讯(2207)

01.运动控制

02.状态控制

03.工艺

06.激光切割工艺

04.作业文件

05.外部控制与通讯方式

06.其他

01.系统

02.机器人

01.参数设置

03.程序

02.程序-指令增删改查

04.外设_通讯

05.工艺

指令-通用运动 ​

1. MOVJ 点到点运动 ​

参数说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

2. MOVL 直线运动 ​

参数说明 ​

m_vUnit 速度单位说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

3. MOVC 圆弧运动 ​

参数说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

4. MOVCA 插入整圆 ​

参数说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

5. MOVS 插入曲线 ​

参数说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

6. IMOV 增量运动 ​

参数说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

7. MOVARCH 门型运动 ​

参数说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

8. MOVARCHEXT 扩展门型运动 ​

参数说明 ​

点位信息说明 ​

JSON 示例 ​

9. SPEED 全局速度 ​

参数说明 ​

JSON 示例 ​

10. SAMOV 定点移动 ​

参数说明 ​

RobotPos 点位信息 ​

JSON 示例 ​

指令-通用运动

1. MOVJ 点到点运动

参数说明

RobotPos 点位信息

JSON 示例

2. MOVL 直线运动

参数说明

m_vUnit 速度单位说明

RobotPos 点位信息

JSON 示例

3. MOVC 圆弧运动

参数说明

RobotPos 点位信息

JSON 示例

4. MOVCA 插入整圆

参数说明

RobotPos 点位信息

JSON 示例

5. MOVS 插入曲线

参数说明

RobotPos 点位信息

JSON 示例

6. IMOV 增量运动

参数说明

RobotPos 点位信息

JSON 示例

7. MOVARCH 门型运动

参数说明

RobotPos 点位信息

JSON 示例

8. MOVARCHEXT 扩展门型运动

参数说明

点位信息说明

JSON 示例

9. SPEED 全局速度

参数说明

JSON 示例

10. SAMOV 定点移动

参数说明

RobotPos 点位信息

JSON 示例