External Axis Motion
Robot External Axis Joint Motion MOVJEXT
Command Word: 0x4507
| Parameter | Type | Required | Description | Range |
|---|---|---|---|---|
| robot | int | Yes | Select robot | [1, 4] |
| vel | int | Yes | Speed | [1, 100], unit: % |
| coord | int | Yes | Coordinate system | 0-Joint, 1-Cartesian, 2-User, 3-Tool |
| pos | double[12] | Yes | Target position: first 7 values are robot body target position, last 5 are external axis target positions | - |
Request Example:
json
{
"robot": 1,
"vel": 5,
"coord": 0,
"pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0]
}Robot External Axis Linear Motion MOVLEXT
Command Word: 0x4508
| Parameter | Type | Required | Description | Range |
|---|---|---|---|---|
| robot | int | Yes | Select robot | [1, 4] |
| vel | int | Yes | Speed | [1, 1000], unit: mm/s |
| coord | int | Yes | Coordinate system | 0-Joint, 1-Cartesian, 2-User, 3-Tool |
| pos | double[12] | Yes | Target position: first 7 values are robot body target position, last 5 are external axis target positions | - |
Request Example:
json
{
"robot": 1,
"vel": 5,
"coord": 0,
"pos": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0]
}Robot External Axis Circular Motion MOVCEXT
Command Word: 0x4509
| Parameter | Type | Required | Description | Range |
|---|---|---|---|---|
| robot | int | Yes | Select robot | [1, 4] |
| vel | int | Yes | Speed | [1, 1000], unit: mm/s |
| coord | int | Yes | Coordinate system | 0-Joint, 1-Cartesian, 2-User, 3-Tool |
| posOne | double[12] | Yes | Arc start point: first 7 values are robot body target position, last 5 are external axis target positions | - |
| posTwo | double[12] | Yes | Arc intermediate point: first 7 values are robot body target position, last 5 are external axis target positions | - |
| posThree | double[12] | Yes | Arc target point: first 7 values are robot body target position, last 5 are external axis target positions | - |
Request Example:
json
{
"robot": 1,
"vel": 5,
"coord": 0,
"posOne": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0],
"posTwo": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0],
"posThree": [1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 1.0, 2.0, 3.0, 4.0, 5.0]
}External Axis Move to Target Point
Command Word: 0x3004 (GO_SYNCPOSITION)
RobotPos Structure Description
| Field | Type | Description |
|---|---|---|
| ctype | int | P type: NONE_TYPE=0, P_TYPE, E_TYPE, RP_TYPE, AP_TYPE, GP_TYPE, GE_TYPE |
| data | double[21] | Position data array, see array index description below |
| key | string | Variable type |
| paraVarData | array | Variable data array |
data Array Index Description
| Index Position | Meaning | Description |
|---|---|---|
| 0, 1 | Coordinate system identifier | 0 0-Joint, 1 1-Cartesian, 2 1-Tool, 3 1-User |
| 2 | Left/right hand | 1-left, 2-right, 0-none (default 0) |
| 3, 4, 5, 6 | Reserved | Default 0 |
| 7 ~ 13 | Robot body coordinates | 7 values, under joint coordinates represents axis 1-6 angle values, under other coordinates represents x,y,z,a,b,c |
| 14 ~ 18 | External axis coordinates | Supports up to 5 external axes, only joint values, padded with zeros if insufficient |
Request Example
json
{
"RobotPos": {
"ctype": 0,
"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],
"key": "",
"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": ""}
]
},
"robot": 1
}