Global Variables

1. Current Position Mode

Value	Mode	Description
-1	Controller current coordinates	Controller current coordinates
0	Joint coordinates (Joint)	Joint coordinate system
1	Cartesian coordinates (Angle)	Cartesian coordinate system
2	Tool coordinates (Tool)	Tool coordinate system
3	User coordinates (User)	User coordinate system

2. Get Global Position Variable Points

Command: 0x5602 GLOBAL_ALLPOSITION_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Example Request:

{
  "robot": 1
}

Controller Response: 0x5603 GLOBAL_ALLPOSITION_RESPOUND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number
globalPosition	object	Global point list
note	object	Annotation list

Example Response:

{
  "robot": 1,
  "globalPosition": {
    "GP0001": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "GP0003": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6]
  },
  "note": {
    "GP0001": "qqqq",
    "GP0002": "",
    "GP0003": "www"
  }
}

Note: For four-axis robots, the last two digits are padded with 0.

3. Set Global Point

Command: 0x5604 GLOBAL_POSITION_SET

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
posName	string	Yes	Point name
pos	array	Yes	Point data (14 elements)
note	string	No	Annotation

pos Array Description (14 elements total):

Index	Description
0	Coordinate system: 0-Joint, 1-Cartesian, 2-Tool, 3-User
1	Unit: 0-Radian, 1-Degree
2	Posture: 0-None, 1-Left hand, 2-Right hand
3	Tool coordinate number
4	User coordinate number
5-6	Reserved
7-13	Position data: J1~J7 / xyzabc

Example Request:

{
  "robot": 1,
  "posName": "GP0001",
  "pos": [1, 0, 0, 0, 0, 0, 0, 459, 0, 796, 3.141, 0, 0, 0],
  "note": "data"
}

4. Query Global Point

Command: 0x5605 GLOBAL_POSITION_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
posName	string	Yes	Point name

Example Request:

{
  "robot": 1,
  "posName": "GP0001"
}

Controller Response: 0x5606 GLOBAL_POSITION_RESPOUND

Response Parameters:

Parameter	Type	Description
note	string	Annotation
posName	string	Variable name
posValue	array	Point in radians
posValueDeg	array	Point in degrees
robot	int	Robot number

Example Response:

{
  "note": "",
  "posName": "GP0001",
  "posValue": [1.0, 1.0, 8.0, 0.0, 0.0, 0.0, 0.0, 377.5550, 1.3950, 718.3910, 3.104225101352, 0.106517442432, 0.024713861787, 0.0],
  "posValueDeg": [1.0, 1.0, 8.0, 0.0, 0.0, 0.0, 0.0, 377.5550, 1.3950, 718.3910, 177.858996966040, 6.102999895881, 1.415999975865, 0.0],
  "robot": 1
}

5. Set Global Numeric Variable

Command: 0x5607 GLOBAL_VARIANT_SET

Request Parameters:

Parameter	Type	Required	Description
varName	string	Yes	Variable name
varType	int	Yes	Variable type: 0-int, 1-double, 2-bool, 3-string
varValue	double	No	Variable value (for numeric types)
varString	string	No	Variable value (for string type)
varNote	string	No	Annotation

Example Request:

{
  "varName": "GI001",
  "varType": 1,
  "varValue": 14.0,
  "varString": "oooo",
  "varNote": "aaa"
}

6. Get Global Numeric Variable List

Command: 0x5608 GLOBAL_VARIANT_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
varType	int	Yes	Variable type: 1-bool, 2-int, 3-double

Example Request:

{
  "varType": 1
}

Controller Response: 0x5609 GLOBAL_VARIANT_RESPOND

Response Parameters:

Parameter	Type	Description
varType	int	Variable type
varNum	int	Number of numeric variables (0-100)
varList	array	Numeric variable list

varList Array Element:

Parameter	Type	Description
varName	string	Variable name
varValue	mixed	Variable value
varNote	string	Annotation

Example Response:

{
  "varType": 1,
  "varNum": 2,
  "varList": [
    {
      "varName": "I001",
      "varValue": 3,
      "varNote": "QQQ"
    },
    {
      "varName": "D002",
      "varValue": 8.4,
      "varNote": "hhha"
    }
  ]
}

7. Request Global Numeric Annotation

Command: 0x5610 GLOBAL_ALLVARIANT_NOTE_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
varType	int	Yes	Variable type: 1-bool, 2-int, 3-double, 4-string

Example Request:

{
  "varType": 1
}

Controller Response: 0x5611 GLOBAL_ALLVARIANT_NOTE_RESPOND

Response Parameters:

Parameter	Type	Description
varNote	object	Annotation list
varType	int	Variable type

Example Response:

{
  "varNote": {
    "GB001": "III",
    "GB002": "SDFSF"
  },
  "varType": 1
}

8. Query Single Global Variable

Command: 0x560B GLOBAL_VARIANT_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
varType	int	Yes	Variable type: 0-int, 1-double, 2-bool, 3-string
varName	string	Yes	Variable name
identity	string	No	Source identifier

identity Value Description:

Value	Description
VariableReview	Global variable from monitoring interface
NumerlcalVarWidget	Global numeric variable interface

Example Request:

{
  "varType": 1,
  "varName": "GI001",
  "identity": "VariableReview"
}

Controller Response: 0x560C GLOBAL_VARIANT_RESPOUND

Response Parameters:

Parameter	Type	Description
varType	int	Variable type
varName	string	Variable name
varValue	mixed	Variable value
varString	string	String value (for string type)
identity	string	Source identifier
varNote	string	Annotation

Example Response:

{
  "varType": 1,
  "varName": "GI001",
  "varValue": 666,
  "varString": "i'm a string",
  "identity": "VariableReview",
  "varNote": "Parachute simulator"
}

9. Local Variable Position Variable P Point Query

Command: 0x5612 LOCAL_POS_P_VAR_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Point name
initialValue	bool	Yes	Whether it is an initial value

Example Request:

{
  "robot": 1,
  "varname": "P0001",
  "initialValue": true
}

Controller Response: 0x5613 LOCAL_POS_P_VAR_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number
jobname	string	Job file name
varname	string	Point name
initialValue	bool	Whether it is an initial value
pos	array	Point (in radians)
posDeg	array	Point (in degrees)

Example Response:

{
  "robot": 1,
  "jobname": "Q1",
  "varname": "P0001",
  "initialValue": true,
  "pos": [0, 0, 1, 2, 3, 4, 5, 6],
  "posDeg": [0, 0, 1, 2, 3, 4, 5, 6]
}

10. Local Variable Position Variable E Point Query

Command: 0x5615 LOCAL_POS_E_VAR_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Point name
initialValue	bool	Yes	Whether it is an initial value

Example Request:

{
  "robot": 1,
  "varname": "E0001",
  "initialValue": true
}

Controller Response: 0x5616 LOCAL_POS_E_VAR_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number
jobname	string	Job file name
varname	string	Point name
initialValue	bool	Whether it is an initial value
pos	array	Point (in radians, 11 elements)
posDeg	array	Point (in degrees, 11 elements)

Example Response:

{
  "robot": 1,
  "jobname": "Q1",
  "varname": "E001",
  "initialValue": true,
  "pos": [0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9],
  "posDeg": [0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
}

11. Local Variable Numeric Variable Query

Command: 0x5618 LOCAL_VALUE_VAR_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
vartype	int	Yes	Variable type: 0-int, 1-double, 2-bool, 3-string
varname	string	Yes	Variable name
initialValue	bool	Yes	Whether it is an initial value
identify	string	No	Source identifier

identify Value Description:

Value	Description
CommandInsert	Variable from instruction insertion interface
VariableReview	Numeric variable from monitoring interface

Example Request:

{
  "robot": 1,
  "vartype": 1,
  "varname": "I001",
  "initialValue": true,
  "identify": "CommandInsert"
}

Controller Response: 0x5619 LOCAL_VALUE_VAR_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number
jobname	string	Job file name
vartype	int	Variable type: 1-bool, 2-int, 3-double
varname	string	Variable name
value	mixed	Variable value (numeric type)
string	string	Variable value (string type)
identify	string	Source identifier

Example Response:

{
  "robot": 1,
  "jobname": "Q1",
  "vartype": 1,
  "varname": "I001",
  "value": 2,
  "string": "i'm a string",
  "identify": "CommandInsert"
}

12. Global External Axis Variable

Note: Global external axis variable structure: Point info (7) + Robot position (7) + External axis position (5) + Reserved (2) = 21 elements

12.1 Set Global External Axis Variable

Command: 0x561a GLOBAL_EXTPOS_VAR_SET

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Point name
pos	array	Yes	Point data (21 elements)
note	string	No	Remark

pos Array Description:

Index Range	Description
0-6	Point info
7-13	Robot position
14-18	Sync external axis position
19-20	Reserved

Example Request:

{
  "robot": 1,
  "varname": "GE001",
  "pos": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 2.0, 2.1, 2.2, 2.3, 2.4, 0, 0],
  "note": "qqq"
}

12.2 Query Global External Axis Variable

Command: 0x561b GLOBAL_EXTPOS_VAR_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
varname	string	Yes	Point name
initialValue	bool	Yes	Whether it is an initial value

Example Request:

{
  "robot": 1,
  "varname": "GE0001",
  "initialValue": true
}

Controller Response: 0x561c GLOBAL_EXTPOS_VAR_RESPOND

Response Parameters:

Parameter	Type	Description
note	string	Annotation
varname	string	Variable name
initialValue	bool	Whether it is an initial value
posValue	array	GP + external point (in radians)
posValueDeg	array	GP + external point (in degrees)

Example Response:

{
  "note": "",
  "varname": "GE001",
  "initialValue": true,
  "posValue": [0.0, 0.0, 0.0, 0.0],
  "posValueDeg": [0.0, 0.0, 0.0, 0.0]
}

12.3 Get All Global External Axis Points

Command: 0x561d GLOBAL_ALLEXTPOS_VAR_INQUIRE

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Example Request:

{
  "robot": 1
}

Controller Response: 0x561e GLOBAL_ALLEXTPOS_VAR_RESPOND

Response Parameters:

Parameter	Type	Description
robot	int	Robot number
globalExtPosition	object	Point list
note	object	Annotation list

Example Response:

{
  "robot": 1,
  "globalExtPosition": {
    "GE001": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6],
    "GE003": [0, 0, 1.1, 2.2, 3.3, 4.4, 5.5, 6.6]
  },
  "note": {
    "GE001": "qqqq",
    "GE002": "",
    "GE003": "www"
  }
}

13. Robot Point Coordinate System Transformation

Command: 0x2A12 POS_TRANS_COORD

Request Parameters:

Parameter	Type	Required	Description
robot	int	Yes	Robot number
name	string	Yes	Point name
pos	array	Yes	Point data (21 elements)
targetCoord	int	Yes	Target coordinate system: 0-Joint, 1-Cartesian, 2-Tool, 3-User

Example Request:

{
  "robot": 1,
  "name": "P001",
  "pos": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
  "targetCoord": 1
}

Controller Response: 0x2A13 POS_TRANS_COORD_RESPOND

Response Parameters:

Parameter	Type	Description
name	string	Point name
pos	array	Point info (universal 21-element data, in radians)
posDeg	array	Point info (universal 21-element data, in degrees)
robot	int	Robot number

Example Response:

{
  "name": "P001",
  "pos": [1, 1, 0, 0, 0, 0, 0, 459.62120, -0.1010, 796.79160, 3.141592653590, 0.0, 0.0, 0.0],
  "posDeg": [1, 1, 0, 0, 0, 0, 0, 459.62120, -0.1010, 796.79160, 180.0, 0.0, 0.0, 0.0],
  "robot": 1
}