Job File Settings

1. Job File Execution Status Settings

1.1 Job File Execution Mode

Mode Value	Mode Name	Description
0	step	Step mode
1	stop	Stop mode
2	restart	Restart mode

1.2 Set Job File Execution Mode

Command: 0x2401 JOBEXE_MODE_SET

Parameter	Type	Required	Description
type	int	Yes	Job file execution status: 0=step, 1=stop
robot	int	Yes	Robot number, range [1, 4]

Request Example:

{
  "type": 0,
  "robot": 1
}

1.3 Run Without File

Command: 0x2402 RUNJOB_NOFILE

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]

Request Example:

{
  "robot": 1
}

1.4 Reverse Run

Command: 0x2403 REVERSEORDER_RUN

Parameter	Type	Required	Description
switch	bool	Yes	false=forward, true=reverse

Request Example:

{
  "switch": true
}

1.5 Query Forward/Reverse Status

Command: 0x2405 REVERSEORDER_RUN_INQUIRE

Request Example:

{}

Response Command: 0x2406 REVERSEORDER_RUN_RESPOND

Parameter	Type	Required	Description
switch	bool	Yes	false=forward, true=reverse

Response Example:

{
  "switch": false
}

2. Start Running Job File

2.1 Send Start Run Command

Command: 0x2501 JOBSEND_DONE

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]
jobname	string	Yes	Job file name
line	int	Yes	Job file instruction line number, cannot be zero, cannot exceed total line count
globalStart	bool	Yes	Whether it is multi-robot mode
continueRun	int	Yes	1=continue running, 0=do not continue running
startOver	int	Yes	1=run from beginning, 0=continue running

continueRun and startOver Combination Description:

continueRun	startOver	Execution Method
1	false	Resume from breakpoint
0	true	Run from beginning
0	false	Run from current line

Request Example:

{
  "robot": 1,
  "jobname": "aaa",
  "line": 1,
  "globalStart": false,
  "continueRun": 0,
  "startOver": 0
}

2.2 Stop Running Job File

Command: 0x2503 STOP_JOB_RUN

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]

Request Example:

{
  "robot": 1
}

3. Current Line Run Settings and Query

3.1 Set Current Line Run

Command: 0x9104 CURRENTROWRUN_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]
jobfilename	string	Yes	Job file name
num	int	Yes	Line number

Request Example:

{
  "robot": 1,
  "jobfilename": "AAA",
  "num": 1
}

3.2 Query Current Line

Command: 0x9105 CURRENTROWRUN_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]

Request Example:

{
  "robot": 1
}

3.3 Robot Run Status Response

Command: 0x9106 CURRENTROWRUN_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]
jobfilename	string	Yes	Job file name
num	int	Yes	Line number

Response Example:

{
  "robot": 1,
  "jobfilename": "AAA",
  "num": 1
}

3.4 Clear Run Status

Description: After the program is successfully imported, the teach pendant sends this protocol request to reset the program run status

Command: 0x9107 CLEARCONTINUERUN

Request Example:

{}

Response Command: 0x9108 CLEARCONTINUERUN_RESPOND

Response Example:

{}

4. Cycle Count

4.1 Set Robot Cycle Count

Command:

• 0x2304 DEADMAN_MODE_SET
• 0x5011 CYCLE_INDEX_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]
index	int	Yes	Cycle count index

Request Example:

{
  "robot": 1,
  "index": 1
}

4.2 Query Robot Cycle Count

Command: 0x5012 CYCLE_COUNT_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]

Request Example:

{
  "robot": 1
}

4.3 Cycle Count Response

Command: 0x5013 CYCLE_COUNT_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]
count	int	Yes	Current run count
index	int	Yes	Cycle count index (0=infinite loop)

Response Example:

{
  "robot": 1,
  "count": 0,
  "index": 1
}

5. Run Time

5.1 Query Robot Run Time

Command: 0x5022 RUNNING_TIME_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]

Request Example:

{
  "robot": 1
}

5.2 Run Time Response

Command: 0x5023 RUNNING_TIME_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]
time	int	Yes	Current run time

Response Example:

{
  "robot": 1,
  "time": 0
}

6. Program Instruction Sequence

6.1 Query Instruction List

Command: 0x5092 COMMAND_LIST_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

6.2 Return Instruction Count

Command: 0x5093 COMMAND_LIST_RESPOND

Description: There are at most two return signals

Parameter	Type	Required	Description
jobname	array	Yes	File name list
num	array	Yes	Line number list
sendednum	int	Yes	Number sent
totalnum	int	Yes	Total count

Response Example:

{
  "jobname": ["SSS", "SSS"],
  "num": [2, 1],
  "sendednum": 2,
  "totalnum": 2
}

7. Global Background Auto-Start

7.1 Set Global Background Auto-Start

Command: 0x50c1 GLOBAL_PTHREAD_SELFSTART_SET

Parameter	Type	Required	Description
robot	int	Yes	Robot number
name	string	Yes	Global background name

Request Example:

{
  "robot": 1,
  "name": "Q1"
}

7.2 Query Global Background Auto-Start

Command: 0x50c2 GLOBAL_PTHREAD_SELFSTART_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Robot number

Request Example:

{
  "robot": 1
}

7.3 Global Background Auto-Start Response

Command: 0x50c3 GLOBAL_PTHREAD_SELFSTART_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Robot number
name	string	Yes	Global background name

Response Example:

{
  "robot": 1,
  "name": "Q1"
}

7.4 Start Global Background Auto-Start

Command: 0x50c4 GLOBAL_PTHREAD_RUN_CONTROL

Parameter	Type	Required	Description
robot	int	Yes	Robot number
type	int	Yes	1=start, 0=stop

Request Example:

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

7.5 Query Global Background Auto-Start Status

Command: 0x50c5 GLOBAL_PTHREAD_RUNSTATUS_INQUIRE

Parameter	Type	Required	Description
robot	int	Yes	Current robot number
hasRun	bool	Yes	Auto-start status, true=started, false=stopped
runName	int	Yes	1=get global background run status

Request Example:

{
  "robot": 1,
  "hasRun": true,
  "runName": 1
}

7.6 Global Background Auto-Start Status Response

Command: 0x50c6 GLOBAL_PTHREAD_RUNSTATUS_RESPOND

Parameter	Type	Required	Description
robot	int	Yes	Current robot number
hasRun	bool	Yes	Auto-start status, true=started, false=stopped

Response Example:

{
  "robot": 1,
  "hasRun": false
}

8. Get Currently Opened Program

8.1 Request to Get Currently Opened Program

Command: 0x3a04

Sent by the upper computer to get the currently opened program

Parameter	Type	Required	Description
robot	int	Yes	Robot number, range [1, 4]

Request Example:

{
  "robot": 1
}

8.2 Controller Response

Command: 0x3a05

Sent by the controller after receiving the 0x3a04 command

Parameter	Type	Required	Description
openedJobName	string	Yes	Currently opened job file

Response Example:

{
  "openedJobName": "asd"
}