Program - Instruction CRUD

Instruction Insert

• Description:
• Before inserting an instruction, use 0x5100 to open the program. After insertion, use the program save command (0x5120).
• "cmd": This node contains the specific instruction information. See the instruction pages for details.
• Host computer sends instruction insert command Command: 0x5200
• "robot":1
• Indicates the robot number to operate on; int type, range [1,4]
• "pos":2
• Indicates the line number to insert at; int type
• "savejobfile":false
• Indicates whether to save the job file; bool type
• true: save, false: do not save
• When false is selected, 0x5120 can be used to save the job file
• "time":"2024.08.08 14:16:39"
• Indicates the time of instruction insertion; string type
• "cmd":cmd->toJson()

{
  "robot":1,
  "pos":2,
  "savejobfile":false,
  "time":"2024.08.08 14:16:39",
  "cmd":cmd->toJson()
}

Instruction Modification

• Indicates the inserted instruction details; see sub-pages; object type
• Description:
• After modifying the instruction, optionally use the program save command (0x5120)
• Host computer sends, modify instruction Command: 0x5201
• "robot":1
• Indicates the robot number to query; int type, range [1,4]
• "pos":[2,3,4]
• Modify instruction index; int type array
• "muti":true
• bool type; present by default with value true
• "modify_para":{}
• "VJ_ENABLE_":true
• Whether to modify joint speed; bool type
• "VJ_VALUE_":"50"
• Joint speed; string type; [1,100]%
• "V_ENABLE_":true
• Whether to modify linear speed; bool type
• "V_VALUE_":"50"
• Linear speed; string type; [1,1000]mm/s
• "PL_ENABLE_":true
• Whether to modify smoothness; bool type
• "PL_VALUE_":"3"
• Smoothness; string type; range [0,5]
• "ACC_ENABLE_":true
• Whether to modify acceleration; bool type
• "ACC_VALUE_":"50"
• Acceleration; string type; range [1,100]
• "DEC_ENABLE_":true
• Whether to modify deceleration; bool type
• "DEC_VALUE_":"50"
• Deceleration; string type; range [1,100]
• "TEC_TYPE_":1
• Parameter; int type; range [0,10]
• 0: Network Communication; 1: Palletizing Control; 2: Vision Command; 3: Laser; 4: Conveyor
• 5: Grinding Process; 6: Welding Parameters; 7: Weave Welding Parameters; 8: Intersecting Curve; 9: Search File Number; 10: Tracking File Number
• "TEC_ENABLE_":true
• Whether to modify the relevant type process number; bool type
• "TEC_VALUE_":"5"
• Relevant type process number; string type; range depends on the relevant type
• "savejobfile":false
• Whether to save the file; bool type
• true: save, false: do not save
• When false is selected, 0x5120 can be used to save the job file
• "time":"2020.02.26 10:11:06"

{
    "robot": 1,
    "pos": [2,3,4],
    "modify_para":
    {
        "VJ_ENABLE_":true,
        "VJ_VALUE_":"50",
        "V_ENABLE_":true,
        "V_VALUE_":"50",
        "PL_ENABLE_":true,
        "PL_VALUE_":"3",
        "ACC_ENABLE_":true,
        "ACC_VALUE_":"50",
        "DEC_ENABLE_":true,
        "DEC_VALUE_":"50",
        "TEC_TYPE_":1,
        "TEC_ENABLE_":true,
        "TEC_VALUE_":"5"
    }
    "savejobfile": false,
    "time": "2024.11.06 09:56:28"
}

Delete Instruction

• Timestamp; string type
• Description:
• After deleting the instruction, use the program save command (0x5120)
• "cmd": This node contains the specific instruction information. See the instruction pages for details.
• Host computer sends, delete instruction Command: 0x5202
• "pos":1
• Modify instruction index; int type
• "robot":1
• Indicates the robot number to query; int type, range [1,4]
• "time":"2020.02.26 10:11:06"
• Timestamp; string type
• "savejobfile":false
• Whether to save the file; bool type

{
    "pos": 5,
    "robot": 1,
    "time": "2024.11.06 09:56:28",
    "savejobfile": false
}

Comment Instruction

• true: save, false: do not save
• When false is selected, 0x5120 can be used to save the job file
• Description:
• When both "store" and "savejobfile" are true, current changes are saved directly
• Host computer sends, comment instruction Command: 0x5203
• "logout_rows":[1,2,3]
• Modify instruction index; int type array
• "robot":1
• Indicates the robot number to query; int type, range [1,4]
• "store":true
• Whether to store the current modification
• When "store" exists and value is true, "time" and "savejobfile" nodes are present
• "time":"2020.02.26 10:11:06"
• Timestamp; string type
• "savejobfile":false
• Whether to save the file; bool type

{
    "logout_rows":[1,2,3],
    "robot": 1,
    "store":true,
    "time": "2024.11.06 09:56:28",
    "savejobfile": false
}

External Key Delete Instruction Info

• true: save, false: do not save
• When false is selected, 0x5120 can be used to save the job file
• Controller replies to teach pendant external key delete instruction info Command: 0x5208
• "jobName":""
• string type, name of the job whose instructions need to be deleted
• "pos":10
• int type, position of the instruction to delete
• "clearAll":false

{
    "jobName":"",
    "pos":10,
    "clearAll":false
}

• bool type, whether to delete all job instructions