Robot Motion

Robot Run Status Query and Response

Teach Pendant Queries Robot Run Status

Command Word: 0x2304

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
jobfilename	string	Yes	Job file name (excluding extension)
suffix	string	Yes	File extension: .JBR main program/.JBP background local program/.JBPG background global program

Request Example:

{
  "robot": 1,
  "jobfilename": "AAA",
  "suffix": ".JBR"
}

Controller Replies Robot Run Status

Command Word: 0x9103

Response Parameters:

Parameter	Type	Description
robot	int	Robot number, range [1, 4]
status	int	Run status: 0-stopped, 1-paused, 2-running
continueRun	int	Whether breakpoint execution exists: 0/1
currentRun	bool	Whether current line execution exists: false/true
mainProgramRun	int	Whether main program is running: 0/1

Response Example:

{
  "robot": 1,
  "status": 0,
  "continueRun": 0,
  "currentRun": false,
  "mainProgramRun": 0
}

---

Robot Motion Control

Robot Joint Motion MOVJ

Command Word: 0x4501

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed percentage, range [1, 100]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
pos	double[7]	Yes	Target position, first 7 values are robot body target position, last 5 are external axis target positions

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
}

Robot Linear Motion MOVL

Command Word: 0x4502

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed mm/s, range [1, 1000]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
pos	double[7]	Yes	Target position, first 7 values are robot body target position, last 5 are external axis target positions

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
}

Robot Circular Motion MOVC

Command Word: 0x4503

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed mm/s, range [1, 1000]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
isFull	bool	Yes	false-MOVC, true-MOVCA
posOne	double[7]	Yes	Arc start point, robot body point
posTwo	double[7]	Yes	Arc intermediate point, robot body point
posThree	double[7]	Yes	Arc target point, robot body point

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "isFull": false,
  "posOne": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
  "posTwo": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
  "posThree": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
}

Robot Spline Motion MOVS

Command Word: 0x4504

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Select robot, range [1, 4]
vel	int	Yes	Speed mm/s, range [1, 1000]
coord	int	Yes	Coordinate system: 0-Joint, 1-Cartesian, 2-User, 3-Tool
size	int	Yes	Number of spline points, requires at least 4 points
pos	double[][7]	Yes	Spline trajectory points, two-dimensional array

Request Example:

{
  "robot": 1,
  "vel": 5,
  "coord": 0,
  "size": 4,
  "pos": [
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7],
    [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7]
  ]
}

---

Move to Target Point

Move to Target Point

Command Word: 0x3003 GO_POSITION

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
positionName	string	Yes	Target point name: SetPosition_EntrancePoint/SetPosition_AuxiliaryPoint/SetPosition_JobPoint
RobotPos	object	Yes	Robot position object

RobotPos Internal Parameters:

Parameter	Type	Description
ctype	int	Type: NONE_TYPE=0/P_TYPE/E_TYPE/RP_TYPE/AP_TYPE/GP_TYPE/GE_TYPE
data	double[21]	Position data array, see description below
key	string	Variable type
paraVarData	array	Variable array

data Array Description:

Index Position	Description
1st, 2nd	Coordinate type: 0,0-Joint; 1,1-Cartesian; 2,1-Tool; 3,1-User
3rd	Left/right hand: 1-left, 2-right, 0-none (default 0)
4th, 5th, 6th, 7th	Reserved, default 0
8th-14th	Robot body coordinate values (7 values): under joint coordinates are axis 1-6 angle values, under other coordinates are x,y,z,a,b,c
15th-19th	External axis coordinate values (up to 5 external axes, padded with zeros if insufficient)

Request Example:

{
  "robot": 1,
  "positionName": "SetPosition_JobPoint",
  "RobotPos": {
    "ctype": 0,
    "key": "",
    "data": [1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.0, 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],
    "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": 6.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 0.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 6.0, "secondvalue": 0, "value": 0, "varname": ""},
      {"data": 3.141590, "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": ""}
    ]
  }
}

Note: No corresponding instruction in the program

Move to Job File Point

Command Word: 0x3005 GO_JOBFILEPOSITION

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
jobName	string	Yes	Job file name
suffixname	string	Yes	Job file extension (e.g., .JBR)
posName	string	Yes	Point name

Request Example:

{
  "robot": 1,
  "jobName": "Q1",
  "suffixname": ".JBR",
  "posName": "P001"
}

Move to User Coordinate Calibration Point

Command Word: 0x3006 GO_USERCALIBRATIONPOS

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
userNum	int	Yes	User number
posType	int	Yes	Point type: 0-origin, 1-X value, 2-Y value

Request Example:

{
  "robot": 1,
  "userNum": 1,
  "posType": 0
}

Move to Reset Point

Command Word: 0x3007 GO_RESET_POSITION

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

---

Return to Zero Command

Return to Zero Command

Command Word: 0x3002 GO_HOME

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number (1-4)
type	int	Yes	Return to zero type: 0-Robot return to zero, 1-External axis return to zero

Request Example:

{
  "robot": 1,
  "type": 1
}