Job File Instructions
When Deleting a Job File, Send:
*0x3111 JOBFILE_DELETE
json
{
"robot": 1,
"jobfilename": "Q",
"suffixname": ".JBR"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| jobfilename | string | Job file name |
| suffixname | string | Job file suffix |
When Renaming a Job File, Send:
*0x3112 JOBFILE_RENAME
json
{
"robot": 1,
"lastname": "Q",
"newname": "W",
"suffixname": ".JBR"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| lastname | string | Original file name |
| newname | string | Modified file name |
| suffixname | string | File suffix |
Create Job File
*0x3113 JOBFILE_CREATE
json
{
"robot": 1,
"jobName": "xxxx",
"suffixname": ".JBR",
"time": "JAN 24 18:32:12:2018"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| jobName | string | NewJob file name |
| suffixname | string | Job file suffix |
| time | string | std::localtime |
Open Job File
*0x3114 JOBFILE_OPEN
json
{
"robot": 1,
"jobName": "xxxx",
"suffixname": ".JBR"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| jobName | string | Job file name |
| suffixname | string | Job file suffix |
Copy Job File
*0x3115 JOBFILE_COPY
json
{
"robot": 1,
"oldjobName": "xxxx",
"newjobName": "xxxx",
"suffixname": ".JBR"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| oldjobName | string | Old job file name |
| newjobName | string | Copied New File Name |
| suffixname | string | Job file suffix |
Clear Current Robot Job File
*0x3116 JOBFILE_CLEAR
json
{
"robot": 1
}Set Job File as Main Program
*0x3117 JOBFILE_MAINJOB_SET
json
{
"robot": 1,
"jobName": "xxx"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| jobName | string | Main Program File Name, Empty Means None |
*0x3118 JOBFILE_MAINJOB_INQUIRE
json
{
"robot": 1
}*0x3119 JOBFILE_MAINJOB_RESPOND
json
{
"robot": 1,
"jobName": "xxx"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| jobName | string | Main Program File Name, Empty Means None |
Save Job File
*0x3120 JOB_SAVE
json
{
"robot": 1,
"jobname": "xxx",
"suffix": ".JBR",
"time": "JAN 24 18:32:12:2018"
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| jobname | string | File Name |
| suffix | string | File suffix |
| time | string | Save Time |
Program Execution Status
When Host PC Queries Program Run Status, Send:
*0x3D02 PROGRAMRUN_STATUS_INQUIRE
json
{
"robot": 1
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number, Represents Robot 1, 2, 3, 4 |
Controller Response:
*0x3D03 PROGRAMRUN_STATUS_RESPOND
- Command Word: 0x2304 DEADMAN_MODE_SET
json
{
"robot": 1,
"status": 0
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| status | int | Program Run Status: 0=Stop, 1=Pause, 2=Run |
Insert Instruction
*0x3121 JOB_INSERT_INSTR
json
{
"robot": 1,
"pos": 1,
"savejobfile": true,
"cmd": {"t":"moj","acc":20}cmd->toJson()
}| Parameter | Type | Description |
|---|---|---|
| robot | int | Robot number |
| pos | int | Instruction insertion Line number |
| savejobfile | bool | Whether to Save Job File |
| cmd | object | Insert Instruction JSON List, JSON Format Below in /Instructions/ |
/Below is the Motion control category insert instructions of Insert Instructions/
MOVJ Insert Point-to-Point
json
{
"ParaACC": {
"data": 25.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 25.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 25.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0015",
"radius": 0.0,
"side": 0.0,
"type": 1,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> Required AddSpeed
> Required SubtractSpeed
> Required Smoothing
> Arc and Full Circle Instructions, 0=Posture Unchanged, 1=Six-Axis No Rotation, 2=Six-Axis Rotation
> External Axis Instruction, Whether Positioner is Synchronized
> Required, Advance Execution, Natural Number(ms)
> Required, Speed
> Required, Speed unit: 0=cm/s 1=mm/s 2=percentage
> Required, Global Point
> Required 1=Pointto,2=Linear,3=Arc,4=Full Circle
MOVL Insert Linear
json
{
"ParaACC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 5.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 1000.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0001",
"radius": 0.0,
"side": 0.0,
"type": 2,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> Required AddSpeed
> Required SubtractSpeed
> Required Smoothing
> Arc and Full Circle Instructions, 0=Posture Unchanged, 1=Six-Axis No Rotation, 2=Six-Axis Rotation
> External Axis Instruction, Whether Positioner is Synchronized
> Required, Advance Execution, Natural Number(ms)
> Required, Speed
> Required, Speed unit: 0=cm/s 1=mm/s 2=percentage
> Required, Global Point
> Required 1=Pointto,2=Linear,3=Arc,4=Full CircleMOVC Insert Arc
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0001",
"radius": 0.0,
"side": 0.0,
"type": 3,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> Arc and Full Circle Instructions, 0=Posture Unchanged, 1=Six-Axis No Rotation, 2=Six-Axis Rotation
> Required, Speed unit: 0=cm/s 1=mm/s 2=percentage
> Required 1=Pointto,2=Linear,3=Arc,4=Full CircleMOVCA Insert Full Circle
json
{
"ParaACC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 100.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 5.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 1000.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GP0001",
"radius": 0.0,
"side": 0.0,
"type": 4,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> Required 1=Pointto,2=Linear,3=Arc,4=Full CircleMOVS Insert Spline
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 1,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "P0004",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"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": ""
},
{
"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": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "P0004",
"radius": 0.0,
"side": 0.0,
"type": 6,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> MOVSin the enumerated type series is6IMOV Increment
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 3,
"data": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "RP0001",
"paraVarData": [
{
"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": ""
},
{
"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": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "RF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "RP0001",
"radius": 0.0,
"side": 0.0,
"type": 5,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> IMOVin the enumerated type series is5MOVJEXT Insert External Axis Point-to-Point
"cmd":
json
{
"ParaACC": {
"data": 10.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 10.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 2,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "E0001",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"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": ""
},
{
"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": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "E0001",
"radius": 0.0,
"side": 0.0,
"type": 32,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> Speed MOVJEXTUnit isPercentage Range:1~100 IntegerMOVLEXT Insert External Axis Linear
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 2,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "E0002",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"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": ""
},
{
"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": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "E0002",
"radius": 0.0,
"side": 0.0,
"type": 33,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> MOVLEXT in the enumerated type series is33MOVCEXT Insert External Axis Arc
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 2,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "E0003",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"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": ""
},
{
"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": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "E0003",
"radius": 0.0,
"side": 0.0,
"type": 34,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> MOVCEXT in the enumerated type series is34SPEED GlobalSpeed
"cmd":
json
{
"logout": false,
"paraSpeed": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 30,
"userParamInt": 0,
"userParamString": ""
}
> Whether to Logout
> GlobalSpeedValue Range:1~200
> SPEED in the enumerated type series is30
> Secondary DevelopmentCustomNodePoint
> Secondary DevelopmentCustomNodePointSAMOV Fixed Point Movement
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 2,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 4,
"data": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
99999.0,
99999.0,
99999.0,
99999.0,
99999.0,
99999.0,
99999.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "AP0001",
"paraVarData": [
{
"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": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 99999.0,
"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": ""
}
]
},
"ctype": 0,
"imovecoord": "RF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "AP0001",
"radius": 0.0,
"side": 0.0,
"type": 58,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> SAMOV in the enumerated type series is58MOVJDOUBLE Dual-Robot Point-to-Point
"cmd": {
"ParaACC": {
"data": 58.0, // Acceleration value
"secondvalue": 0,
"value": 0,
"varname": ""
},//AddSpeedAdjustment Ratio(1~100)
"ParaDEC": {
"data": 58.0, // Deceleration value
"secondvalue": 0,
"value": 0,
"varname": ""
},//SubtractSpeedAdjustment Ratio(1~100)
"ParaPL": {
"data": 0.0, // Smoothing value
"secondvalue": 0,
"value": 0,
"varname": ""
},//Positioning Level,Range0~5
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//Posture Parameter 0=Posture Unchanged 1=Six-Axis No Rotation 2=Six-Axis Rotation
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//Whether Robot and External Axis are Synchronized 0 = No,1 = Yes
"ParaTIME": {
"data": 88.0, // Advance execution time value
"secondvalue": 0,
"value": 0,
"varname": ""
},//Advance Execution,Natural Number(ms)
"ParaV": {
"data": 58.0, // Speed value
"m_vUnit": 2,// Speed unit:0=cm/s 1=mm/s 2=percentage
"secondvalue": 0,
"value": 0,
"varname": ""
Speed MOVJDOUBLE Unit isPercentage Range:1~100 Integer
"ctype": 0,
"imovecoord": "UF", // Movement coordinate:JointCoordinateRF,Cartesian Coordinate BF,Tool Coordinate TF,User Coordinate UF
"length": 0.0,// Length
"logout": false,
"margin": 0.0,// Edge
"offsetAxis": 0,
"para": 0,
"polish": 0,// Grinding count(1~99)
"polishAngle": 0.0,// Grinding angle(-180~+180)
"polishID": 1,// Grinding ID(1~99)
"posidname": "",
"posidtype": 0,
"positionId": "GE0023", // Point name
"radius": 0.0,
"side": 0.0,
MOVJDOUBLE in the enumerated type series is54
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVLDOUBLE Dual-RobotLinear
"cmd": {
"ParaACC": {
"data": 2.50,
"secondvalue": 0,
"value": 0,
"varname": ""
},//AddSpeedAdjustment Ratio(1~100)
"ParaDEC": {
"data": 2.50,
"secondvalue": 0,
"value": 0,
"varname": ""
},//SubtractSpeedAdjustment Ratio(1~100)
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//Positioning Level,Range0~5
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//Posture Parameter 0=Posture Unchanged 1=Six-Axis No Rotation 2=Six-Axis Rotation
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//Whether Robot and External Axis are Synchronized 0 = No,1 = Yes
"ParaTIME": {
"data": 88.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//Advance Execution,Natural Number(ms)
"ParaV": {
"data": 25.0,
"m_vUnit": 1,// Speed unit:0=cm/s 1=mm/s 2=percentage
"secondvalue": 0,
"value": 0,
"varname": ""
Speed MOVLDOUBLE Unit ismm/s Range:2~1000 Integer
"ctype": 0,
"imovecoord": "UF",// Movement coordinate:JointCoordinateRF,Cartesian Coordinate BF,Tool Coordinate TF,User Coordinate UF
"length": 0.0,// Length
"logout": false,
"margin": 0.0,// Edge
"offsetAxis": 0,
"para": 0,
"polish": 0,// Grinding count(1~99)
"polishAngle": 0.0,// Grinding angle(-180~+180)
"polishID": 1,// Grinding ID(1~99)
"posidname": "",
"posidtype": 0,
"positionId": "GE0069",// PositionName
"radius": 0.0,// Radius parameter
"side": 0.0,
MOVLDOUBLE in the enumerated type series is55
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVCDOUBLE Dual-Robot Arc
"cmd": {
"ParaACC": {
"data": 3.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//AddSpeedAdjustment Ratio(1~100)
"ParaDEC": {
"data": 6.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},//SubtractSpeedAdjustment Ratio(1~100)
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 8.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF", // Movement coordinate:JointCoordinateRF,Cartesian Coordinate BF,Tool Coordinate TF,User Coordinate UF
"length": 0.0,// Length
"logout": false,
"margin": 0.0,// Edge
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GE0002",
"radius": 0.0,
"side": 0.0,
MOVCDOUBLE in the enumerated type series is56
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVCADOUBLE Dual-Robot Full Circle
"cmd": {
"ParaACC": {
"data": 3.0, // Acceleration value
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 2.50, // Deceleration value
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0, // Smoothing value
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 7.0, // Advance execution time value
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 25.0, // Speed value
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ctype": 0,
"imovecoord": "UF", // Movement coordinate:JointCoordinateRF,Linear⻆CoordinateBF,⼯ToolCoordinateTF,⽤⼾CoordinateUF
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "GE0693", // Point name
"radius": 0.0,
"side": 0.0,
MOVCADOUBLE in the enumerated type series is57
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
MOVCOMM External Point
"cmd":
json
{
"_pParaACC":{"data":20.0,"secondvalue":0,"value":0,"varname":""},
"_pParaDEC":{"data":20.0,"secondvalue":0,"value":0,"varname":""},
"_pParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"_pParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"_pParaV":{"data":10.0,
"m_vUnit":2,
"secondvalue":0,"value":0,"varname":""},
MovJ Unit is Percentage, Range: 1~100 Integer
MovL Unit ismm/s Range:2~1000 Integer
MovS Unit ismm/s Range:2~1000 Integer
"logout":false,
"moveType":"MovJ",
"type":99,
"userParamInt":0,
"userParamString":""
}
> MovementAddSpeed
> MovementSubtractSpeed
> Smooth Transition (0~5)
> Advance Execution,Natural Number(ms)
> Speed unit:0=cm/s 1=mm/s 2=percentage
> Speed MOVCOMM Based onInterpolation ModeNotSame
> InterpolationTypeEXTMOV External Axis Following
"cmd":{"_pVarName":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"extaxle":1,// External axis number
"logout":false,
"movtype":0, // Movement type 0 =FollowLineSpeedMovement 1 = Constant Speed Movement
"speedproportionfactor":1.0,// Speed ratio coefficient K:External AxisSpeed(°/s)=K*LineSpeed(mm/s)
EXTMOV in the enumerated type series is142
"userParamInt":0,
"userParamString":""
}
ENDEXTMOV External Axis FollowingStop(inInsertExternal Axis FollowingAutomatically Inserted Right After,Cannot be Modified)
"cmd":
json
{
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"extaxle": 1,
"logout": false,
"movtype": 0,
"speedproportionfactor": 0.0,
"type": 143,
"userParamInt": 0,
"userParamString": ""
}
> External Axis Number
> MovementType 0 =FollowLineSpeedMovement 1 = Constant Speed Movement
> SpeedProportion Factor K:External AxisSpeed(°/s)=K*LineSpeed(mm/s)
> ENDEXTMOV in the enumerated type series is143GEARIN ElectronicGear
"cmd":
json
{
"followAxle": 1,
"logout": false,
"mainAxle": 1,
"proportionfactor": 2.0,
"type": 146,
"userParamInt": 0,
"userParamString": ""
}
> Following Axis
> Main Axis, Can Select Robot J1~J6 Axes
> Proportion Factor K:Following AxisSpeed(°/s)=K*Main axis speed(°/s)
> GEARIN in the enumerated type series is146ENDGEARIN ElectronicGearStop(Right After ElectronicGearCommand Insert)
"cmd":
json
{
"followAxle": 1,
"logout": false,
"mainAxle": 1,
"proportionfactor": 1.0,
"type": 148,
"userParamInt": 0,
"userParamString": ""
}
> Following Axis
> Main Axis, Can Select Robot J1~J6 Axes
> Proportion Factor K:Following AxisSpeed(°/s)=K*Main axis speed(°/s)
> ENDGEARIN in the enumerated type series is148MRESET Reset External Axis Multi-Turn Rotation
"cmd":
json
{
"exterAxis": 0,
"logout": false,
"type": 147,
"userParamInt": 0,
"userParamString": ""
}
> External Axis Count
> MRESET in the enumerated type series is147//DRAG_TRAJECTORY Drag Trajectory
"cmd":
json
{
"logout": false,
"trackName": "##NNNN$$",
"trackSpeed": 55,
"type": 170,
"userParamInt": 0,
"userParamString": ""
}
> User-Defined Trajectory Name
> Trajectory Playback Rate, Unit: Percentage Range:0~500
> DRAG_TRAJECTORY in the enumerated type series is170SWITCHPAYLOAD Switch Load Number
"cmd":
json
{
"_pVarName": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 220,
"userParamInt": 0,
"userParamString": ""
}
> SWITCHPAYLOAD in the enumerated type series is220//MOVARCH Gate Motion
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 1,
"data": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "P0005",
"paraVarData": [
{
"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": ""
},
{
"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": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 0,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "P0005",
"radius": 0.0,
"side": 0.0,
"type": 233,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> SWITCHPAYLOAD in the enumerated type series is233/Above is the Motion control category insert instructions of Insert Instructions/
/Below is the Input/Output category insert instructions of Insert Instructions/
DIN IO Input
"cmd":
json
{
"ParaGroup":
{
"data":0.0,
"secondvalue":0,
"value":0,
"varname":""
},
"ParaGroupNum":{"data":1.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupTime":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupValue":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"errorHanding":0,
"groupType":"IN#",
"logout":false,
"portId":-1,
Example:IOBoard1:1~16
IOBoard2:17~32
IOBoard3:33~48
IOBoard4:48~64
4PathInputRange1~4 EachIOBoard Allocation4CountGroupNumber
8PathInputRange1~2 EachIOBoard Allocation2CountGroupNumber
"rate":0,
"sum":0,
"type":17,
"userParamInt":0,
"userParamString":""
}
> din dout Type IN# IGH# IG# OT# OGH# OG#
> Input Group Number 1-channel input range 1~16, each IO board allocated 16 group numbers,
> DIN in the enumerated type series is17DOUT IO Output - Set corresponding IO port on IO board high or low
"cmd":
json
{
"ParaGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupNum":{"data":1.0,"secondvalue":0,"value":0,"varname":""},
INT-I001~I100 GINT-GI001~GI990
BOOL-B001~B100 GBOOL-GB001~GB990,
"ParaGroupTime":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupValue":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"errorHanding":0,
"groupType":"OT#",
"logout":false,
"portId":-1,
Example:IOBoard1:1~16
IOBoard2:17~32
IOBoard3:33~48
IOBoard4:48~64
4PathInputRange1~4 EachIOBoard Allocation4CountGroupNumber
8PathInputRange1~2 EachIOBoard Allocation2CountGroupNumber
"rate":0,
"sum":0,
"type":16,
"userParamInt":0,
"userParamString":""
}
> din ain Variable NameCharacter CustomVariableNoneVariable Name OthersBased onVariableSourceHas
> State Hold Time, Set to Zero After Timeout, Range > 0
> VariableSourceNumberValue Manually Select Port Value Output in Binary,Each Port Increases in Binary add 1,Example:Select Port1 Value is0000 0001, Select Port1~3 Value is0000 0111
> din dout Type IN# IGH# IG# OT# OGH# OG#
> Output Group Number 1-channel input range 1~16, each IO board allocated 16 group numbers,
> DOUT in the enumerated type series is16AIN Analog Input
"cmd":
json
{
"ParaGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupNum":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupTime":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaGroupValue":{"data":0.0,"secondvalue":0,"value":1,"varname":"D001"},
"errorHanding":0,
"groupType":"",
"logout":false,
"portId":1,
Example:IOBoard1:1~16
IOBoard2:17~32
IOBoard3:33~48
IOBoard4:48~64
4PathInputRange1~4 EachIOBoard Allocation4CountGroupNumber
8PathInputRange1~2 EachIOBoard Allocation2CountGroupNumber
"rate":0,
"sum":0,
"type":21,
"userParamInt":0,
"userParamString":""
}
> din ain Variable NameCharacter
> Output Group Number 1-channel input range 1~16, each IO board allocated 16 group numbers,
> AIN in the enumerated type series is21AOUT Analog Output
"cmd":
json
{
"ParaGroup": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupTime": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupValue": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"errorHanding": 0,
"groupType": "",
"logout": false,
"portId": 1,
"rate": 0,
"sum": 0,
"type": 20,
"userParamInt": 0,
"userParamString": ""
}
> AOUT in the enumerated type series is20PULSEOUT Pulse Output
"cmd":
json
{
"ParaGroup": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupTime": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupValue": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"errorHanding": 0,
"groupType": "",
"logout": false,
"portId": -1,
"rate": 100,
"sum": 100,
"type": 22,
"userParamInt": 0,
"userParamString": ""
}
> Pulse Frequency, Range:1~1000000 Integer
> Pulse Count Range:Greater Than0Integer
> PULSEOUT in the enumerated type series is22READ_DOUT Read Output
"cmd":
json
{
"ParaGroup": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupNum": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupTime": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaGroupValue": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"errorHanding": 0,
"groupType": "OT#",
"logout": false,
"portId": -1,
"rate": 0,
"sum": 0,
"type": 97,
"userParamInt": 0,
"userParamString": ""
}
> READ_DOUTin the enumerated type series is97/Above is the Input/Output category insert instructions of Insert Instructions/
/Below is the Timer category insert instructions of Insert Instructions/
TIMER Delay
"cmd":
json
{
"logout": false,
"paraTime": {
"data": 0.01,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 7,
"userParamInt": 0,
"userParamString": ""
}
> DelayDuration
> READ_DOUTin the enumerated type series is7/Above is the Timer category insert instructions of Insert Instructions/
/Below is the Operation category insert instructions of Insert Instructions/
ADD Add
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":42,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> ADDin the enumerated type series is42SUB Subtract
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":
{
"data":0.0,
"secondvalue":0,
"value":1,
"varname":"I001"
},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":43,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> SUBin the enumerated type series is43MUL Multiply
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":44,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> MULin the enumerated type series is44DIVDivide
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":45,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> DIVin the enumerated type series is45MOD Modulo
"cmd":
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":46,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> MODin the enumerated type series is46SIN Sine
cmd:
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":100,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> SINin the enumerated type series is100COSCosine
cmd:
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":101,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> COSin the enumerated type series is101ATANArctangent
json
{
"desType":2,
"desValue":"0",
DOUBLE D001~D100 GINT GI001~GI990 GDOUBLE GD001~GD990,
"key":"I000",
GINT GI001~GI990 GDOUBLE GD001~GD990,
"logout":false,
"paraSourceGroup":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"},
"paraValueGroup":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"type":102,
"userParamInt":0,
"userParamString":""
}
> Variable Value Source 0-Custom 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> Variable Parameter CustomVariable Value rangeNo Limit ,INT I001~I100
> Variable NameINT I001~I100 DOUBLE D001~D100
> ATANin the enumerated type series is102LOGICAL_OP Logical Operation
{
"cmd":
json
{
"logicalType": 0,
"logout": false,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupStore": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 119,
"userParamInt": 0,
"userParamString": ""
}
> Parameter 1
> Result
> Parameter 2
> LOGICAL_OPin the enumerated type series is119/Above is the Operation category insert instructions of Insert Instructions/
/Below is the Condition control category insert instructions of Insert Instructions/
CALL Call Subroutine
When Executing This Command,Jumpto the Called Subroutine,After Subroutine Completes, Return toMain ProgramCALLNext Line After Command to Continue Execution
"cmd":
json
{
"jobName": "CVCXV",
"lineNoToCall": 0,
"logout": false,
"type": 15,
"userParamInt": 0,
"userParamString": ""
}
> SubProgram Name
> YesNoComment
> CALL in the enumerated type series is119CALL_LUAFILE Call Lua File
"cmd":
json
{
"logout": false,
"luaStringIstructionsn": "",
"luafileName": "demo.lua",
"textEditType": true,
"type": 219,
"userParamInt": 0,
"userParamString": ""
}
> luaFile Name
> CALL_LUAFILE in the enumerated type series is119IF If ELSEIF ELSE
"cmd":
json
{
"ifconditionArrayFINAL":
{
"conditionGroup":
[[{
"desValue":"0",
I001~I100 D001~D100 B001~B100 GI001~GI990 GD001~GD990 GB001~GB990
DIN Each IO Board Has 16 Digital Inputs
Example DIN24 24 = 16 + 8 24 Represents Port 8 of IO Board 2
IO Board 1: 16 + IO Board 2: 8
AINEachIOBoard2CountAnalog Input
Example AIN3 3 = 2 + 1 Represents Port 1 of IO Board 2
IO Board 1: 2 + IO Board 2: 1,
"key":"I001",
DIN Each IO Board Has 16 Digital Inputs
Example DIN24 24 = 16 + 8 24 Represents Port 8 of IO Board 2
IO Board 1: 16 + IO Board 2: 8
AINEachIOBoard2CountAnalog Input
Example AIN3 3 = 2 + 1 Represents Port 1 of IO Board 2
IO Board 1: 2 + IO Board 2: 1,
"logicType":1,
"paraGroupOne":Variable1
{
"data":0.0,
"secondvalue":0,
"value":1,
"varname":"I001"
},
"paraGroupTwo":{"data":0.0,"secondvalue":0,"value":0,"varname":""}Variable2
}]]},
"logout":false,
"type":9,
"userParamInt":0,
"userParamString":""
}
> Compare Variable Value CustomVariableRange[-999999,999999]
> Parameter Name I001~I100 D001~D100 B001~B100 GI001~GI990 GD001~GD990 GB001~GB990
> Comparison Method 1:== 2:< 3:> 4:<= 5:>= 6:!=
> IFin the enumerated type series is9 ELSE10 ELSEIF11IFandENDIFUsed in Pairs,Cannot be Deleted IndividuallyDivideor Modify,Will Cause Program Execution Errors
ELSE IF Cannot be Used Independently Without IF
WAIT Wait
"cmd":
json
{
"logout": false,
"m_filterTime": -1.0,
"now": 0,
"paraTime": {
"data": -1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 8,
"userParamInt": 0,
"userParamString": "",
"waitConditionFinal": {
"conditionGroup": [
[
{
"desValue": "0",
"key": "I001",
"logicType": 1,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 2.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
]
]
}
}
> Parameter 1
> Parameter 2WHILE Loop
WHILE andENDWHILEMust be Used in Pairs,Cannot be Deleted IndividuallyDivide,Will Cause Program Execution Errors
"cmd":
json
{
"logout":false,
"type":13,
"userParamInt":0,
"userParamString":"",
"whileconditionArrayFINAL":
{
"conditionGroup":
[[{
"desValue":"0",
"key":"I001",
DIN Each IO Board Has 16 Digital Inputs
Example DIN24 24 = 16 + 8 24 Represents Port 8 of IO Board 2
IO Board 1: 16 + IO Board 2: 8
AINEachIOBoard2CountAnalog Input
Example AIN3 3 = 2 + 1 Represents Port 1 of IO Board 2
IO Board 1: 2 + IO Board 2: 1,
"logicType":1,
"paraGroupOne":
{
"data":0.0,
"secondvalue":0,
"value":1,
"varname":"I001"
},
"paraGroupTwo":{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"}
}]]}}
> WHILEin the enumerated type series is13
> Parameter Name
> Parameter Name I001~I100 D001~D100 B001~B100 GI001~GI990 GD001~GD990 GB001~GB990
> Comparison Method 1:== 2:< 3:> 4:<= 5:>= 6:!=
> Parameter 1
> Parameter 2ENDWHILE EndLoop
"cmd":{
"logout":false,
ENDWHILEin the enumerated type series is14
"pos":6,
"robot":1,
"time":"2021.05.18 02:46:05"
LABEL Label
"cmd":
json
{
"jumpConditionFlag": false,
"label": "[$DSFSF$]",
"logout": false,
"type": 50,
"userParamInt": 0,
"userParamString": ""
}
> LabelName OnlyCanCharacterStart with Letter
> LABLEin the enumerated type series is50JUMP Jump
JUMP MustMustandLABEL Used Together With,Run toJUMPInstructionAfter,If a Condition is Set,Then DirectlyJumptotoShouldofLABELRun After InstructionLABELDownOne LineInstruction
"cmd":
json
{
"jumpCondition": {
"conditionGroup": [
[
{
"desValue": "0",
"key": "I001",
"logicType": 1,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
]
]
},
"jumpConditionFlag": true,
"label": "[$DSFSF$]",
"logout": false,
"type": 51,
"userParamInt": 0,
"userParamString": ""
}
> Parameter Name
> Parameter Name
> Comparison Method 1:== 2:< 3:> 4:<= 5:>= 6:!=
> Variable Parameter1
> Variable Parameter2
> toShouldLabel
> JUMP in the enumerated type series is51UNTIL Until
When the Condition is Met, Regardless of Whether the Robot is Running, it Immediately Pauses and Starts the Next Instruction Below the ENDUNTIL Instruction
UNTILandENDUNTILCorrespond One-to-One,Must be Deleted SimultaneouslyDivide,Otherwise the Program Will Report an Error
"cmd":
json
{
"logout": false,
"type": 85,
"untilconditionArrayFINAL": {
"conditionGroup": [
[
{
"desValue": "0",
"key": "I001",
"logicType": 1,
"paraGroupOne": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001"
},
"paraGroupTwo": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
]
]
},
"userParamInt": 0,
"userParamString": ""
}
> UNTIL in the enumerated type series is85ENDUNTIL StopUntil
SatisfiedUntilAfter Condition is Met, Run the Next Line Instruction
"cmd":{
"userParamInt":0,
"userParamString":"",
"logout":false,
ENDUNTILin the enumerated type series is86
CRAFTLINE Craft Line Jump
Dedicated Process Instruction,After Running This Instruction in the Program,in the Dedicated Process Interface WillJumpto the Corresponding Line Number
"cmd":{
"line":3, // Corresponding instruction line in dedicated process interface
"logout":false,
"type":87,//CRAFTLINE in the enumerated type series is87
"userParamInt":0,
"userParamString":""
},
CMDNOTE Instruction Comment
"cmd":{
"logout":false,
"note":"##YYYY$$", //YYYYisCommentContent
"type":125,
"userParamInt":0,
"userParamString":""
}, //CMDNOTE in the enumerated type series is125
POS_REACHABLE Position Reachable Check
"cmd": {
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 6, // Variable type 3:B 6: GB
"varname": "GB001" // Status variable name
},//Judge Whether Position Can be Reached Through Interpolation Can-1 NotCan-0
"logout": false,
"moveType": 0,
"positionId": "GP0001", // Position Variable NameName GP/PPoint
"type": 131,//POS_REACHABLEin the enumerated type series is131
"userParamInt": 0,
"userParamString": ""
}
CLKSTART Timer Start
"cmd":
json
{
"ID": 1,
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 2,
"varname": "D001"
},
"logout": false,
"type": 126,
"userParamInt": 0,
"userParamString": ""
}
> Timer Number
> Store IntoVariable
> Logout
> CLKSTART in the enumerated type series is126CLKSTOP Timer Stop
"cmd":
json
{
"ID": 1,
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 127,
"userParamInt": 0,
"userParamString": ""
}
> ToStopofTimer Number 1~32
> CLKSTOP in the enumerated type series is127CLKRESET Timer Reset
"cmd":
json
{
"ID": 1,
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 128,
"userParamInt": 0,
"userParamString": ""
}
> ToResetofTimer Number 1~32
> CLKRESET in the enumerated type series is128READLINEAR ReadLineSpeed
"cmd":
json
{
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 4,
"varname": "GI001"
},
"logout": false,
"type": 144,
"userParamInt": 0,
"userParamString": ""
}
> READLINEAR in the enumerated type series is144STOPREADLINEAR ReadLineSpeedStop
"cmd":
json
{
"_pVarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 145,
"userParamInt": 0,
"userParamString": ""
}
> STOPREADLINEAR in the enumerated type series is145CALL_LUASTRING Call Lua Statement
"cmd":
json
{
"logout": false,
"luaStringIstructionsn": "",
"luafileName": "",
"textEditType": true,
"type": 231,
"userParamInt": 0,
"userParamString": ""
}
> Lua Statement
> CALL_LUASTRING in the enumerated type series is145WAIT_POS Wait Until Moved to Point
"cmd":
json
{
"accurary": 0.1,
"logout": false,
"maxTime": 200,
"minTime": 20,
"type": 234,
"userParamInt": 0,
"userParamString": "",
"waitType": 0
}
> Accuracy, Degrees(0.0001-0.1)
> MostLargeWaitWhenTime
> MostSmallWaitWhenTime
> WAIT_POS in the enumerated type series is234/Above is the Condition control category insert instructions of Insert Instructions/
/Below is the Variable category insert instructions of Insert Instructions/
SET Assignment
json
{
"boolValue": false,
"doubleValue": 0.0,
"intValue": 0,
"key": "I000",
"logout": false,
"strValue": "0",
"type": 41,
"userParamInt": 0,
"userParamString": "",
"varType": 0,
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "I001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "GI001"
}
}
> Whether to Logout
> SET Instruction Value
> Variable
> When value=0, Fill in the Value Here
> YesNoInsideEmbedVariable
> 0-Non-String Manual Value 7-String Manual Value 8-Local or GlobalVariable
> Whenvalue=7,Fill Value Here Whenvalue=8 FillVariable Name GI001 GB GD I001etc.
> Variable Value BelowParameter Notes as AboveFORCESET Write to File
During Program Execution,All Calculations,AssignmentOperationare Modifications to Values in Cache,Are Not Saved to
System Files,That is, When Program Stops, All GlobalVariable Values Will Be Restored.
To Force Writing Global Numeric Variables in ContentVariableWrite to Filein,Then Can Use FORCESET Instruction
"cmd":
json
{
"logout": false,
"type": 41,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "GI001"
}
}
> FORCESET in the enumerated type series is41
> Variable Name/Above is the Variable category insert instructions of Insert Instructions/
/Below is the String category insert instructions of Insert Instructions/
STRING_SPELL String AppendAdd
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> STRING_SPELL in the enumerated type series is224
> STRING_SPELL String AppendAdd,Variable
> STRING_SPELL String AppendAdd,Variable ValueSTRING_SLIC Index Slice
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 225,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> STRING_SLICEStart Index
> STRING_SLIC in the enumerated type series is225
> DataStorageofVariableSTRING_SPLIT String Split by Delimiter
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> Number of Extracted Data Records
> QueryofDataSequentially StoredofFirst Address
> SeparatorCharacterofType
> beExtractofStringVariable NameSTRING_LOCATE String Locate
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> Number of Extracted Data Records
> QueryofDataSequentially StoredofFirst Address
> to be IndexedVariable,NeedToSearchofCharacterCharacter
> Variable,FixedPositionCharacterCharacterAllinofVariableSTRING_LENGTH String Length
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> DataStorageofVariable,CalculationResultStoredVariable
> Variable,PendingCalculationLengthofVariableSTRING_TO String to Non-String
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> Non-StringVariable,ConvertofTargetVariable
> StringVariable,NeedToConvertofStringTO_STRING Non-String to String
"cmd":
json
{
"dataStorage": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"endIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"nonVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"separator": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"startIndex": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"type": 224,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 8,
"varname": "S001"
},
"variableValue": {
"data": 0.0,
"secondvalue": 0,
"value": 7,
"varname": "5"
}
}
> Non-StringVariable,NeedToConvertofVariable
> StringVariable,ConvertofTargetVariable/Above is the Variable category insert instructions of Insert Instructions/
/Below is the Coordinate System category insert instructions of Insert Instructions/
SWITCHTOOL Switch Tool
"cmd": {
"CoordA": 1,
"CoordB": 1,
"CoordC": 1,
"_variable": {
"data": 0.0, // Manual value (Select Tool Number)
"secondvalue": 1,
"value": 1,
"varname": "GI001" // Variable type (Select Tool Number)
},
"coordType": 0,
"logout": false,// Logout
"type": 47,//in the enumerated type series is47
"userParamInt": 0,// Secondary development custom parameter
"userParamString": ""// Secondary development custom parameter
}
SWITCHUSER Switch User Coordinate
"cmd": {
"CoordA": 1,
"CoordB": 1,
"CoordC": 1,
"_variable": {
"data": 66.0, // Manual value (Select Tool Number)
"secondvalue": 0,
"value": 0,
"varname": "" // Variable type (Select Tool Number)
},
"coordType": 1,
"logout": false,
SWITCHUSER in the enumerated type series is48
"userParamInt": 0,
"userParamString": ""
}
USERCOORD_TRANS User Coordinate Conversion
"cmd":
json
{
"CoordA": 3,
"CoordB": 4,
"CoordC": 5,
"coordType": 0,
"logout": false,
"type": 115,
"userParamInt": 0,
"userParamString": ""
}
> User CoordinateA 1~999Integer
> User CoordinateB 1~999Integer
> User CoordinateC 1~999Integer
> USERCOORD_TRANSin the enumerated type series is115SWITCHSYNC Switch External Axis
"cmd":
json
{
"logout": false,
"syncgroup": 3,
"type": 49,
"userParamInt": 0,
"userParamString": ""
}
> External Axis Group Number0~3 0-No External Axis 1-3:External Axis Group Number
> SWITCHSYNCin the enumerated type series is49/Above is the Coordinate System category insert instructions of Insert Instructions/
/Below is the Network Communication category insert instructions of Insert Instructions/
SENDMSG Send Data
"cmd":
json
{
"ID": 1,
"logout": false,
"sendChar": "2",
"type": 92,
"userParamInt": 0,
"userParamString": ""
}
> Process number1~9
> XXXXX is the Character Information Sent
> SENDMSG in the enumerated type series is92PARSEMSG Parse Data
"cmd": {
"ID": 1, //ID Process
"clearCache": 1, // Clear buffer after parsing
"dataStorage": { // Data storage count
"data": 0.0, // Manual value
"secondvalue": 0,
"value": 4, // Variable type selection 1;I 4: GI
"varname": "GI021" // Variable name
},
"dataVariable": { // First variable for data storage
"data": 0.0,
"secondvalue": 0,
"value": 2, // Variable type selection 1;I 2:D 4:GI 5:GD 8: S
"varname": "D004" // Variable name
},
"logout": false,// Whether to log out
PARSEMSG in the enumerated type series is94
"userParamInt": 0,// Secondary development custom parameter
"userParamString": ""// Secondary development custom parameter
}
READCOMM Read
"cmd":
json
{
"ID": 6,
"commType": 0,
"logout": false,
"m_varname": "I008",
"positionId": "GP0007",
"type": 108,
"userParamInt": 0,
"userParamString": ""
}
> Process number1~9
> Communication Type 0-Ethernet 1-Modbus
> Variable NamePoint Storage Count I001~I100 GI001~GI990
> First Point StorageVariable
> READCOMM in the enumerated type series is108OPENMSG Open Data
"cmd":
json
{
"ID": 9,
"logout": false,
"type": 113,
"userParamInt": 0,
"userParamString": ""
}
> Process number1~9
> OPENMSG in the enumerated type series is113CLOSEMSG Close Data
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 114,
"userParamInt": 0,
"userParamString": ""
}
> Process number1~9
> CLOSEMSGin the enumerated type series is114PRINTMSG Output Character
"cmd":
json
{
"logout": false,
"printChar": "11",
"printType": 0,
"type": 118,
"userParamInt": 0,
"userParamString": ""
}
> Output Character
> PRINTMSG in the enumerated type series is118MSG_CONNECTION_STATUS Get Message Connection Status
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 93,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 6,
"varname": "GB012"
}
}
> Network SettingsProcess Number 1~9
> MSG_CONNECTION_STATUSin the enumerated type series is93
> Status Store IntoVariable Name/Above is the Network Communication category insert instructions of Insert Instructions/
/Below is the Position Variable category insert instructions of Insert Instructions/
USERFRAME_SET User Coordinate Modification
{"cmd":
json
{"ID":1,
"coord":"UX",
"logout":false,
"m_newValue":"",
"m_varName":"GD001",
"type":95,in the enumerated type series is95,
"userParamInt":0,
"userParamString":"",
"varType":4
}
> User Coordinate Number 1~999Integer
> User Coordinate Parameter UX,UY,UZ,UA,UB,UC
> ManualVariable Value Range[-50000,50000]
> Variable Name I001~I100 GI001~GI990 B001~B100 GB001~GB990
> VariabletoShouldofType(0:Manual Value,1:IVariable,2:DVariable,3:GIVariable,4:GDVariableTOOLFRAME_SET Tool Coordinate Modification
"cmd": {
"ID": 1, // User coordinate number1~999Integer
"coord": "TX", // User coordinateParameter TX,TY,TZ,TA,TB,TC
"logout": false,
"m_newValue": "", // Manual variable value
"m_varName": "GD001", //Variable I001~I100 GI001~GI990 D001~B100 GD001~GB990
TOOLFRAME_SETin the enumerated type series is96
"userParamInt": 0,
"userParamString": "",
"varType": 4 // Corresponding variable type(0:Manual Value,1:IVariable,2:DVariable,3:GIVariable,4:GDVariable
}
READPOS ReadPoint
"cmd": {
"axis": 2, // Position VariableAxis 1~6--1~6Axis 8~13--O1~O6
"coord": "BF", // Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate TF-Tool coordinate UF-User coordinate
"logout": false,
"posidname": "",
"posidtype": 0,//0-Position Variable NameFixed P001 G001 1-Position Variable NameNotFixed P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", // Read point(NotFillisWhenBeforePosition WhenPosition Variable TypeSelectLocal Position Variableor Global Position Variable Quantity,Here Select the Corresponding Variable QuantityName.If Selected P$INT,P$GINT,G$INT, G$GINT,Here Select the Corresponding IntegerVariable Name.Example Select P$INT,Variable Name I001,I001=33,Then the Position ObtainedVariableis P033
READPOSin the enumerated type series is90
"userParamInt": 0,
"userParamString": "",
"varname": "GD001" // Variable to store the read value
}
POSADD PointAdd
"cmd": {
"axis": 3, // Position VariableAxis 1~6--1~6Axis 8~13--O1~O6
OperationType 0-ADDTYPE PointAdd 1-SUBTYPE PointSubtract 2-SETTYPE Position Set
"coord": "BF", // Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate TF-Tool coordinate UF-User coordinate
"datatype": 0, // Variable value type 0-Manual Value 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
"desData": "87", // Position Variable Value
"logout": false, // Comment
"posidname": "",
"posidtype": 0, //0-Position Variable NameFixed P001 G001 1-Position Variable NameNotFixed P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", // Position Variable NameP001 GP001 E001 GP001 I001 GI001
"type": 91, //POSCAL in the enumerated type series is91
"userParamInt": 0,
"userParamString": ""
}
POSSUB PointSubtract
"cmd": {
"axis": 3, // Position VariableAxis 1~6--1~6Axis 8~13--O1~O6
OperationType 0-ADDTYPE PointAdd 1-SUBTYPE PointSubtract 2-SETTYPE Position Set
"coord": "BF", // Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate TF-Tool coordinate UF-User coordinate
"datatype": 0, // Variable value type 0-Manual Value 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
"desData": "87", // Position Variable Value Range[-50000,50000]
"logout": false,
"posidname": "",
"posidtype": 0,//0-Position Variable NameFixed P001 G001 1-Position Variable NameNotFixed P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", // Position Variable Name
"type": 91, //POSCAL in the enumerated type series is91
"userParamInt": 0,
"userParamString": ""
}
POSSET Position Set
"cmd": {
"axis": 3, // Position VariableAxis 1~6--1~6Axis 8~13--O1~O6
OperationType 0-ADDTYPE PointAdd 1-SUBTYPE PointSubtract 2-SETTYPE Position Set
"coord": "BF", // Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate TF-Tool coordinate UF-User coordinate
"datatype": 0,// Variable value type 0-Manual Value 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
"desData": "87", // Position Variable Value
"logout": false,
"posidname": "",
"posidtype": 0,//0-Position Variable NameFixed P001 G001 1-Position Variable NameNotFixed P$I001 P$GI001 G$I001 G$GI001
"positionId": "GP0001", // Position Variable Name P001 GP001 E001 GP001 I001 GI001
"type": 91,//POSCAL in the enumerated type series is91
"userParamInt": 0,
"userParamString": ""
}
COPYPOS Copy Position
"cmd": {
"cpaxles": [
1,
2,
6
], //Select Axis to Copy
"cpaxletype": 1,
"cpdposId": "GE0001", // Target position variable name
"cpdposname": "",
"cpdpostype": 0,
"cpposId": "GP0065", // Source target variable name
"cpposname": "",
"cppostype": 0,
"logout": false,
COPYPOS in the enumerated type series is116
"userParamInt": 0,
"userParamString": ""
}
POSADDALL Point AllAdd
"cmd": {
"calData": ["3", "6", "8", "5", "7", "2", "[-]", "1", "2", "3", "4", "5", "[-]", "[-]"], // Coordinate position: robot body + external axes
"caltype": 0,//0-AllAdd 1-AllSubtract 2-Set All
"coord": "TF", // Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate TF-Tool coordinate UF-User coordinate
"datatype": [0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 2, 2], // Point data type
"logout": false,
"posidname": "",// Empty: fixed variable name Others areP$INT P$GINT GP$INT GP$GINT E$INT E$GINT GE$INT GE$GINT
"posidtype": 0,//0-Position Variable NameFixed LocalPPoint GlobalPPoint LocalEPointGlobalEPoint 1-Position Variable NameNotFixed P$INT P$GINT GP$INT GP$GINT E$INT E$GINT GE$INT GE$GINT
"positionId": "GE0002", // Position Variable Name
"type": 138,//POSCALALL in the enumerated type series is138
"userParamInt": 0,
"userParamString": ""
}
POSSUBALL Point AllSubtract
json
{
"cmd": {
"calData": [
"3",
"6",
"8",
"5",
"7",
"2",
"[-]",
"1",
"2",
"3",
"4",
"5",
"[-]",
"[-]"
],
"caltype": 1,
"coord": "TF",
"datatype": [
0,
0,
0,
0,
0,
0,
2,
0,
0,
0,
0,
0,
2,
2
],
"logout": false,
"posidname": "",
"posidtype": 0,
"positionId": "GE0002",
"type": 138,
"userParamInt": 0,
"userParamString": ""
},
"pos": 1,
"robot": 1,
"savejobfile": true
}
> Coordinate Position Robot Body + External Axis
> 0-AllAdd 1-AllSubtract 2-Set All
> Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate TF-Tool coordinate UF-User coordinate
> Point DataType
> EmptyisFixedVariable Name Others areP$INT P$GINT GP$INT GP$GINT E$INT E$GINT GE$INT GE$GINT
> Position Variable Name
> POSCALALL in the enumerated type series is138POSSETALL Position Set All
"cmd": {
"calData": ["3", "6", "8", "5", "7", "2", "[-]", "1", "2", "3", "4", "5", "[-]", "[-]"], // Coordinate position: robot body + external axes
"caltype": 2,//0-AllAdd 1-AllSubtract 2-Set All
"coord": "TF", // Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate TF-Tool coordinate UF-User coordinate
"datatype": [0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 2, 2], // Point data type
"logout": false,
"posidname": "",
"posidtype": 0,
"positionId": "GE0002", // Position Variable Name
"type": 138,//POSCALALL in the enumerated type series is138
"userParamInt": 0,
"userParamString": ""
}
TOFFSETON Trajectory Offset Start
"cmd":
json
{
"calData": [
"34",
"35",
"36",
"37",
"38",
"39",
"40"
],
"coord": "RF",
"datatype": [
0,
0,
0,
0,
0,
0,
0
],
"logout": false,
"tool": -1,
"type": 139,
"user": -1,
"userParamInt": 0,
"userParamString": ""
}
> Axis Parameter Manual ValueRange[-50000,50000]
> Position VariableCoordinate System RF-JointCoordinate BF-Cartesian coordinate
> Variable Type 0-Manual Value 1-INT 2-DOUBLE 3-GINT 4-GDOUBLE
> TOFFSETON in the enumerated type series is139TOFFSETOFF Trajectory Offset End
"cmd":
json
{
"calData": [
"0",
"0",
"0",
"0",
"0",
"0",
"0"
],
"coord": "RF",
"datatype": [
0,
0,
0,
0,
0,
0,
0
],
"logout": false,
"tool": -1,
"type": 140,
"user": -1,
"userParamInt": 0,
"userParamString": ""
}
> TOFFSETOFF in the enumerated type series is140READPOSMSG ReadPointInformation
"cmd":
json
{
"logout": false,
"message": 0,
"positionId": "GP0041",
"type": 171,
"userParamInt": 0,
"userParamString": "",
"varName": "I042",
"varType": 0
}
> InformationReadValue 0-Tool Number 1-User CoordinateNumber 2-Coordinate system 3-PostureAngle/Radian 4-Posture
> Variable Name P001 GP001 E001 GE001
> READPOSMSG in the enumerated type series is171
> TargetVariable NamePOS_STRETCH Position Stretch
"cmd":
json
{
"logout": false,
"position1Id": "GP0043",
"position1OutId": "GP0047",
"position2Id": "",
"position2OutId": "GP0048",
"position3Id": "GP0044",
"stretchL1": 45.0,
"stretchL2": 46.0,
"stretchType": 0,
"type": 173,
"userParamInt": 0,
"userParamString": ""
}
> Start Point
> OutputStart PointPosition,OffsetStart PointPosition
> Arc Middle Point
> Output End Point Position
> End Point
> Start PointOffset
> End PointOffset
> StretchType
> POS_STRETCH enum type value is 173Set Position Information SETPOSMSG
"cmd": {
"logout": false,
"posData": ["GI001", "1", "3", "GI001", "GI001"], // Coordinate system,Angle/Radian,Posture,Tool Number,User CoordinateNumber
"posDataType": [1, 0, 0, 1, 1], //ValueType
"posidname": "",
"posidtype": 0,
"positionId": "GP0069", // Position Variable
"type": 208,
"userParamInt": 0,
"userParamString": ""
}
/Above is the Position Variable category insert instructions of Insert Instructions/
/Above is the Program control category insert instructions of Insert Instructions/
PTHREAD_START Start Thread
"cmd":
json
{
"jobName": "AVC",
"localOrGlobal": 0,
"logout": false,
"type": 88,
"userParamInt": 0,
"userParamString": ""
}
> AfterBackground Task ProgramFile Name
> 0-Local Background 1-Global Background
> PTHREAD_STARTin the enumerated type series is88PTHREAD_END Exit Thread
"cmd":{
"jobName":"PPPPPP", // Background task program file name
"localOrGlobal":0, //0-Local Background 1-Global Background
"logout":false, //PTHREAD_ENDin the enumerated type series is88
"type":89,
"userParamInt":0,
"userParamString":""
}
PAUSERUN Pause Run
"cmd": {
"jobname": "AAA", // When local background type is selected SelectedProgram Name
"logout": false,
"programtype": 2, //0:All 1:Main Program 2:Local Background
"type": 109,//PAUSERUN in the enumerated type series is109
"userParamInt": 0,
"userParamString": ""
}
COUNTINUERUM Continue Running
"cmd": {
"jobname": "AAA", // Local background file name
"logout": false,
"programtype": 2, //1:Main Program 2:Local Background
"type": 110, //STOPRUN in the enumerated type series is111
"userParamInt": 0,
"userParamString": ""
}
STOPRUN Stop Run
"cmd": {
"jobname": "",// When local background type is selected SelectedProgram Name
"logout": false,
"programtype": 0,// Program type 0-All Programs 1-Main Program 2-Local Background Program
"type": 111, //STOPRUN in the enumerated type series is111
"userParamInt": 0,
"userParamString": ""
}
RESTRATRUN Restart Run
"cmd":{
"jobname":"", // When local background type is selected SelectedProgram Name
"logout":false,
"programtype":0, // Program type 0-All Programs 1-Main Program 3-Local Background Program
"type":117,//RESTRATRUN in the enumerated type series is117
"userParamInt": 0,
"userParamString": ""}
WINDOW Pop-up Window Instruction
"cmd":
json
{
"count": 3,
"logout": false,
"text1": "1",
"text2": "3",
"text3": "5",
"text4": "7",
"type": 209,
"userParamInt": 0,
"userParamString": "",
"value1": 4,
"value2": 6,
"value3": 8,
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
}
}
> Selection Count
> Prompt Content
> Option 1 Content
> Option 2 Content
> Option 3 Content
> WINDOW Pop-up Window Instruction
> Option1toShouldVariable Value
> Option2toShouldVariable Value
> Option3toShouldVariable Value
> BindVariablePTHREAD_STATE Thread State
"cmd": {
"jobName": "XXX", // Program name
"localOrGlobal": 0, // Program type0:Local Background 1:Global Background 2:Main Program
"logout": false,
"m_Variable Value": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I001" // Stored variable type
},
"type": 210,
"userParamInt": 0,
"userParamString": ""
}
/Above is the Program control category insert instructions of Insert Instructions/
/Below is the MODBUS category insert instructions of Insert Instructions/
MODBUS_OPEN Open Modbus Connection
"cmd":
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 211,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> MODBUS_OPEN Open Modbus ConnectionMODBUS_CLOSE Close Modbus Connection
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 212,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> 212MODBUS_CLOSE Close Modbus ConnectionMODBUS_CONNECTION_STATUS MODBUS Connection Status
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 213,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> 213MODBUS_CONNECTION_STATUS MODBUS Connection Status
> Status Store IntoVariable NameMODBUS_READ modbusReadOperation
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 214,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> Read Slave Address Count
> AddressType
> DataType
> DataStorageofFirstCountVariable
> Slave Register First Address
> 214MODBUS_READ modbusReadOperationMODBUS_WRITE modbusWriteOperation
json
{
"ID": 1,
"addressNumber": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"addressType": "",
"dataType": "short",
"dataVariable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"firstAddress": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"type": 215,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> Write Slave Address Count
> AddressType
> DataType
> DataStorageofFirstCountVariable
> Write Slave Address Count
> 215MODBUS_WRITE modbusWriteOperation/Above is the MODBUS category insert instructions of Insert Instructions/
/Below is the FINSTCP category insert instructions of Insert Instructions/
FINSTCP_OPEN Open FINSTCP Connection
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 216,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> 216FINSTCP_OPEN Open FINSTCP ConnectionFINSTCP_CLOSE Close FINSTCP Connection
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 217,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> 217FINSTCP_CLOSE Close FINSTCP ConnectionFINSTCP_CONNECTION_STATUS FINSTCP Connection Status
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 218,
"userParamInt": 0,
"userParamString": "",
"variable": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
}
> Process number
> Status Store IntoVariable Name/Above is the FINSTCP category insert instructions of Insert Instructions/
/Below are thePalletizingcontrol category insert instructions/
PALON PalletizingStart
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 69,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> PALON in the enumerated type series is69PALGRIPPER Switch Gripper
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 70,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> Gripper 2
> PALGRIPPER in the enumerated type series is70PALENTER PalletizingEntry Point
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 72,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> AddSpeedParameter 1~100
> SubtractSpeedParameter 1~100
> Smooth TransitionParameter0-5
> Advance Execution Natural Number
> // Speed unit 0-cm/s 1-mm/s 2-%
> Speed 1~100
> Interpolation Mode MovJ-Joint MovL-Linear MovC-Arc
> PLAENTER in the enumerated type series is72
> xyPath Optimization 0-Close 1-Open
> zPath Optimization 0-Close 1-OpenPALSHIFT PalletizingAuxiliary Point
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 73,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> AddSpeedParameter 1~100
> SubtractSpeedParameter 1~100
> PALSHIFT in the enumerated type series is73
> xyPath Optimization 0-Close 1-Open
> zPath Optimization 0-Close 1-OpenPALREAL PalletizingWorkpiece Point
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 74,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> PALREAL in the enumerated type series is74PALCLEAR PalletizingReset
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 75,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> PALCLEAR in the enumerated type series is75PALOFF PalletizingEnd Judgment
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 76,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> End JudgmentVariable Name [-]-None B001 GB001
> PALOFF in the enumerated type series is76PAL_POS Get Workpiece Point Position
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 222,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> PAL_POS Get Workpiece Point Position in the enumerated type series is222PALSIMPLESET Simple Palletizing
"cmd":
json
{
"ID": 1,
"MULTIPAL": 0,
"NUM": 0,
"PalPOS_pointType": 0,
"ParaACC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaLINE": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSTRAIGHT": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 0.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"Posture": 0,
"STACKTYPE": 0,
"_pCurrentLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I004"
},
"_pLayNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pLayersNum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I003"
},
"_pPalOffvarName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pSerialNum": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pTecNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"_pWorkpieceSum": {
"data": 0.0,
"secondvalue": 0,
"value": 1,
"varname": "I002"
},
"getPointPosPos": 0,
"logout": false,
"m_getPointPosId": "[-]",
"m_getPointPosname": "[-]",
"m_numVariable Type": [
0,
0,
0
],
"m_pointVariable Type": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"moveType": "MovC",
"offsetAxis": 0,
"pointVariable Name": [
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]",
"[-]"
],
"tool": 0,
"type": 223,
"userParamInt": 0,
"userParamString": "",
"variableData": [
"",
"",
""
],
"xyOpt": 0,
"zOpt": 0
}
> Process number
> Multi-Palletizing 0-Close 1-Open
> PALSIMPLESET Simple Palletizing in the enumerated type series is223/Above are the Palletizing control category insert instructions/
/Below are the welding control category insert instructions/
ARCON Welding Start ARCOFF Welding End ARCSET Welding End WVON Weave Welding Start WVOFF Weave Welding End FEEDWIRE Wire Feed REFP Weave Welding Reference Point SPOTWELD Spot Welding
"cmd":{
"anamorphismFlag":0,// Use arc start gradient
"arcParameterId":1, // Welding parameter process number to use
"current":0.0,// Set welding current
"feedtime":0.0,// Delay time,Wire Feed Time
"generatingOfArcAgainFlag":0,// Use re-arc
"generatingOfArcCurrent":99999.0, // Arc start current
"generatingOfArcTime":99999.0, // Arc start time
"generatingOfArcVoltage":1.0, // Arc start voltage
"logout":false, // Whether to log out
"positionId":"", // PositionID
"preventStickingWireFlag":0,// Anti-stick wire
"quenchingAnamorphismFlag":0,// Extinguish arc gradient
"quenchingOfArcCurrent":99999.0,// Extinguish arc current
"quenchingOfArcTime":99999.0,// Arc retract time
"quenchingOfArcVoltage":99999.0, // Extinguish arc voltage
"refpPointNum":0, // REFP reference point
"startUpAgainFlag":0, // Use restart
ARCON in the enumerated type series is23
"useTemp":1, // Temporary parameter,1:MakeUse TemporaryParameter,0:Not Used
"userParamInt":0, //
"userParamString":"", //
"voltage":0.0, // Set welding voltage
"weldCurrent":99999.0,// Welding current
"weldVoltage":99999.0,// Welding voltage
"RobotPos"😕/ Exists when REFP instruction
json
{"ctype":1,
"data":[1.0,1.0,0.0,0.0,0.0,0.0,0.0,36.0,0.0,6.0,3.141590,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0002",
"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":36.0,"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":""}]},}
CIL Intersecting Line
"cmd":
json
{
"ParaACC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaDEC": {
"data": 1.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaPL": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSPIN": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaSYNC": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaTIME": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"ParaV": {
"data": 10.0,
"m_vUnit": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"RobotPos": {
"ctype": 1,
"data": [
0.0,
0.0,
8.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"key": "P0001",
"paraVarData": [
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8.0,
"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": ""
},
{
"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": ""
}
]
},
"ctype": 0,
"imovecoord": "UF",
"length": 0.0,
"logout": false,
"margin": 0.0,
"offsetAxis": 0,
"para": 1,
"polish": 0,
"polishAngle": 0.0,
"polishID": 1,
"posidname": "",
"posidtype": 0,
"positionId": "P0001",
"radius": 0.0,
"side": 0.0,
"type": 28,
"userParamInt": 0,
"userParamString": "",
"width": 0.0
}
> AddSpeedParameter 1~100
> SubtractSpeedParameter 1~100
> Smoothing Level [0,5]
> Advance Execution Time ms
> Local Position Variable/Global Position Variable P0001 GP0001
> Movement Coordinate:JointCoordinateRF,Cartesian Coordinate BF,Tool Coordinate TF,User Coordinate UF
> CIL in the enumerated type series is28TIGWELDON Fish Scale Welding Start
"cmd":{
"l2":5.0, // Idle travel distance [0.01,9999] Unit:mm
"logout":false,
"timeOFTIG":1.0, // Spot welding time [0.01,10] Unit:s Welding Distance [0.1,9999] Unit:mm
"type":65, //TIGWELDON in the enumerated type series is65
"typeOFTIG":1,//1-Set by Spot Welding Time 2-Set by Spot Welding Distance
"userParamInt":0,
"userParamString":""
}
TIGWELDOFF Fish Scale Welding End
After Executing This Instruction, End Fish Scale Welding Trajectory
"cmd":{
"l2":0.0, // Idle travel distance [0.01,9999] Unit:mm
"logout":false,
"type":66, //TIGWELDOFF in the enumerated type series is66
"userParamInt":0,
"userParamString":""
}
ARCBUILTIN Welding Machine Built-in Process
"cmd":
json
{
"ID": 1,
"Value": [
5.0,
6.0,
7.0,
8.0,
9.0
],
"logout": false,
"type": 168,
"userParamInt": 0,
"userParamString": ""
}
> Built-inProcess Number
> ParameterABCDE
> ARCBUILTINin the enumerated type series is168WELDPATHSTARTInitial Weld Seam Record Start
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 176,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> WELDPATHSTARTin the enumerated type series is176WELDPATHSTOPInitial Weld Seam Record End
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 177,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> WELDPATHSTOPin the enumerated type series is177WELDPATHOFFSETWeld Seam Offset Calculation
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 178,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> AAxis Offset
> BAxis Offset
> CAxis Offset
> CalculationResultStore Into
> WELDPATHOFFSETin the enumerated type series is178
> XAxis Offset
> YAxis Offset
> ZAxis OffsetWELDPATHCOUNT Weld Seam Count Calculation
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 179,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> CalculationResultStore IntoVariable Type
> AAxis Offset
> BAxis Offset
> CAxis Offset
> CalculationResultStore Into
> WELDPATHCOUNT in the enumerated type series is179
> Select Weld Seam
> XAxis Offset
> YAxis Offset
> ZAxis OffsetSTARTOFFSETWELD Run Offset Weld Seam
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 180,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> AAxis Offset
> BAxis Offset
> CAxis Offset
> STARTOFFSETWELD in the enumerated type series is180
> XAxis Offset
> YAxis Offset
> ZAxis OffsetGOTO_WELD_START_POS Run Welding Initial Point
"cmd":
json
{
"_varName": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"aOffset": 0.0,
"bOffset": 0.0,
"cOffset": 0.0,
"initialPath": 0,
"logout": false,
"targetPath": 0,
"type": 180,
"usePath": 0,
"userParamInt": 0,
"userParamString": "",
"xOffset": 0.0,
"yOffset": 0.0,
"zOffset": 0.0
}
> AAxis Offset
> BAxis Offset
> CAxis Offset
> STARTOFFSETWELD in the enumerated type series is180
> XAxis Offset
> YAxis Offset
> ZAxis Offset/Above are theWeldingcontrol category insert instructions/
/Below are theVisionCommandcategory insert instructions/
VISION_RUN Vision Start
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 77,
"userParamInt": 0,
"userParamString": ""
}
> Process number
> VISION_RUN in the enumerated type series is77
> Secondary DevelopmentCustomNodePoint
> Secondary DevelopmentCustomNodePointVISION_TRG Vision Trigger
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 78,
"userParamInt": 0,
"userParamString": ""
}
> Process number
> Whether to Logout
> VISION_TRG in the enumerated type series is78
> Secondary DevelopmentCustomNodePoint
> Secondary DevelopmentCustomNodePointVISION_POSNUM Get Vision Position Count
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 79,
"userParamInt": 0,
"userParamString": ""
}
> Process number
> Global NumericVariable 1-99Integer
> VISION_RUN in the enumerated type series is79
> Secondary DevelopmentCustomNodePoint
> Secondary DevelopmentCustomNodePointVISON_POS Get Vision Count
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 80,
"userParamInt": 0,
"userParamString": ""
}
> Process number
> Global Position Variable 1-9999Integer
> VISON_POS in the enumerated type series is80
> Secondary DevelopmentCustomNodePoint
> Secondary DevelopmentCustomNodePointVISION_CLEAR ClearDivideVision Position Information
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 81,
"userParamInt": 0,
"userParamString": ""
}
> Process number
> VISION_CLEAR in the enumerated type series is81
> Secondary DevelopmentCustomNodePoint
> Secondary DevelopmentCustomNodePointVISION_END Vision End
"cmd":
json
{
"ID": 1,
"M_STRPOSNUM": {
"data": 0.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"m_positionId": "",
"posidname": "",
"posidtype": 0,
"type": 82,
"userParamInt": 0,
"userParamString": ""
}
> Process number
> VISION_END in the enumerated type series is82
> Secondary DevelopmentCustomNodePoint
> Secondary DevelopmentCustomNodePoint/Above are theVisionCommandcategory insert instructions/
/Below are theLasercategory insert instructions/
LASER_ON Laser Start
"cmd":
json
{
"ID": 1,
"logout": false,
"type": 59,
"userParamInt": 0,
"userParamString": ""
}
> LaserProcess Number1-9
> LASER_ON in the enumerated type series is59LASER_OFF Laser End
json
{
"cmd":
{
"ID":1,
"logout":false,
"type":60,
"userParamInt":0,
"userParamString":""
}
LASER_CIRCLE Cutting Circle
"cmd":
{
"ParaACC":{"data":4.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":3.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaSPIN":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaSYNC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":6.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":2.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":
{
"ctype":1,
"data":[0.0,0.0,0.0,7.0,8.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0001",
"paraVarData":[{"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":7.0,"secondvalue":0,"value":0,"varname":""},{"data":8.0,"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":""},{"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":""}]},
"ctype":0,
"imovecoord":"UF",
"length":0.0,
"logout":false,
"margin":5.0,
"offsetAxis":0,
"para":0,
"polish":0,
"polishAngle":0.0,
"polishID":1,
"posidname":"",
"posidtype":0,
"positionId":"P0001",
"radius":1.0,
"side":0.0,
"type":61,
"userParamInt":0,
"userParamString":"",
"width":0.0
}
#### /**********************Above are theLasercategory insert instructions**********************/
#### /**********************Above are theConveyor category insert instructions**********************/
#### CONVEYOR_CHECKPOS Conveyor Workpiece Detection Start
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":105,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_CHECKEND Conveyor Workpiece Detection End
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":106,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_ON Conveyor Tracking Start
"cmd":
{
"ID":3,
"ParaACC":{"data":5.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":4.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":
{
"ctype":1,
"data":[1.0,1.0,8.0,6.0,7.0,0.0,0.0,19998.0,0.0,19998.0,3.141590,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0002",
"paraVarData":[{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":8.0,"secondvalue":0,"value":0,"varname":""},{"data":6.0,"secondvalue":0,"value":0,"varname":""},{"data":7.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"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":""}]},
"logout":false,
"m_positionId":"P0002",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":103,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_OFF Conveyor Tracking End
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":104,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_POS Get Conveyor Tracking Position
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":172,
"userParamInt":0,
"userParamString":""
}
#### CONVEYOR_CLEAR DeleteDivideConveyor Tracking Target
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"logout":false,
"m_positionId":"",
"m_postype":0,
"posidname":"",
"posidtype":0,
"removeType":0,
"type":221,
"userParamInt":0,
"userParamString":""
}
#### /**********************Above are theConveyor category insert instructions**********************/
#### /**********************Below are theSprayingProcess category insert instructions**********************/
#### SPRAY_ON Spraying Start
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":120,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_OFF Spraying End
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":121,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_CHANGE Spraying Color Change
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":122,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_MOVE Spraying Trajectory
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":123,
"userParamInt":0,
"userParamString":""
}
#### SPRAY_STARTPOS Spraying Start Position
"cmd":
{
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":
{
"data":0.0,
"m_vUnit":1,
"secondvalue":0,
"value":0,
"varname":""
},
"anaID":3,
"atom":0.0,
"colorID":1,
"flow":0.0,
"gunID":1,
"logout":false,
"point":1,
"sector":0.0,
"seqID":2,
"traID":1,
"type":124,
"userParamInt":0,
"userParamString":""
}
#### /**********************Above are theSprayingProcess category insert instructions**********************/
#### /**********************Below are thePolishing Process category insert instructions**********************/
#### POLISH_EDGE Edge Polishing
"cmd":
{
"ParaACC":{"data":4.0,"secondvalue":0,"value":0,"varname":""},
"ParaDEC":{"data":5.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":3.0,"secondvalue":0,"value":0,"varname":""},
"ParaSPIN":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaSYNC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaTIME":{"data":6.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":2.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":
{
"ctype":1,
"data":[1.0,1.0,3.0,5.0,4.0,0.0,0.0,19998.0,0.0,19998.0,3.141592653590,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0002",
"paraVarData":[{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":1.0,"secondvalue":0,"value":0,"varname":""},{"data":3.0,"secondvalue":0,"value":0,"varname":""},{"data":5.0,"secondvalue":0,"value":0,"varname":""},{"data":4.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":19998.0,"secondvalue":0,"value":0,"varname":""},{"data":3.141592653590,"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":""}]},
"ctype":0,
"imovecoord":"UF",
"length":0.0,
"logout":false,
"margin":0.0,
"offsetAxis":0,
"para":0,
"polish":8,
"polishAngle":7.0,
"polishID":9,
"posidname":"",
"posidtype":0,
"positionId":"P0002",
"radius":0.0,
"side":0.0,
"type":107,
"userParamInt":0,
"userParamString":""
}
#### POLISH_CONTINUE Continue Polishing
"cmd":
{
"angle":12,
"logout":false,
"polishID":10,
"time":13,
"times":11,
"type":129,
"userParamInt":0,
"userParamString":""
}
#### POLISH_OFF End Polishing
"cmd":
{
"angle":0,
"logout":false,
"polishID":14,
"time":0,
"times":0,
"type":130,
"userParamInt":0,
"userParamString":""
}
#### /**********************Above are thePolishing Process category insert instructions**********************/
#### /**********************Below are theLocatePositionTrackingcategory insert instructions**********************/
#### LASERTRACK_ON Laser Tracking Start
"cmd":
{
"ID":1,
"delay":3.0,
"logout":false,
"segmentParam":2,
"type":83,
"userParamInt":0,
"userParamString":""
}
#### LASERTRACK_OFF Laser Tracking End
"cmd":
{
"ID":1,
"delay":3.0,
"logout":false,
"segmentParam":2,
"type":84,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_START Locating Start
"cmd":
{
"ID":5,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":0,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"",
"position2Id":"",
"position3Id":"",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":149,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_STATIC Static Locating
"cmd":
{
"ID":5,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":0,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"",
"position2Id":"",
"position3Id":"",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":149,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_DYNAMIC Dynamic Locating
"cmd":
{
"ID":1,
"ParaACC":
{
"data":10.0,
"secondvalue":0,
"value":0,
"varname":""
},
"ParaPL":{"data":1.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":10.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"RobotPos":{"ctype":1,"data":[0.0,0.0,8.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":"P0001",
"paraVarData":[{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":0.0,"secondvalue":0,"value":0,"varname":""},{"data":8.0,"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":""},{"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":""}]},
"artifactType":0,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"P0001",
"position2Id":"",
"position3Id":"",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":151,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_CALC Locating Calculation
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":152,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_END Locating End
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":153,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_OFFSET Locating Offset
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":154,
"userParamInt":0,
"userParamString":""
}
#### SEARCH_OFFSETEND Locating Offset End
"cmd":
{
"ID":1,
"ParaACC":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaPL":{"data":0.0,"secondvalue":0,"value":0,"varname":""},
"ParaV":{"data":0.0,"m_vUnit":1,"secondvalue":0,"value":0,"varname":""},
"artifactType":1,
"calculType":0,
"coordNum":1,
"delay":0.0,
"length":0.0,
"logout":false,
"pointEffet":0,
"posidname":"",
"posidtype":0,
"position1Id":"GP0010",
"position2Id":"GP0011",
"position3Id":"GP0012",
"position4Id":"",
"position5Id":"",
"position6Id":"",
"positionOutId":"GP0013",
"searchParacoordinate":1,
"senseType":1,
"tableID":1,
"type":155,
"userParamInt":0,
"userParamString":""
}
#### ARCTRACKON Arc Tracking Start
"cmd":
{
"ID":16,
"isArcTracking":true,
"logout":false,
"type":156,
"userParamInt":0,
"userParamString":""
}
#### ARCTRACKOFF Arc Tracking End
"cmd":
{
"ID":17,
"isArcTracking":false,
"logout":false,
"type":157,
"userParamInt":0,
"userParamString":""
}
#### /**********************Above are the search and tracking category insert instructions**********************/
### Instruction Add, Delete, Query, and Modify
#### Modify Instruction
*0x3122 JOB_MODIFY_INSTR
{
"pos":1,
"cmd":{ cmd->toJson() }
"paraFlag": 0,
"time":"2020.02.26 10:11:06"
"savejobfile":false
}
"cmd":{
"RobotPos":{"ctype":69,
"data":[0.0,0.0,8.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],
"key":4521986},
"acc":2.0,
"ctype":0,
"dec":10.0,
"imovecoord":"UF",
"length":0.0,
"logout":false,
"margin":0.0,
"para":0,
"pl":0.0,
"polish":0,
"polishAngle":0.0,
"polishID":1,
"positionId":4521986,
"radius":0.0,
"side":0.0,
"spin":0,
"sync":0,
"time":0,
"type":57,
"vUnit":1,
"velocity":10.0,
"userParamInt":0,
"userParamString":"",
"width":0.0},
"paraFlag":1,
"pos":4,
"robot":1,
"time":"2021.04.15 00:04:15"
}
> LASER_OFF in the enumerated type series is60
> AddSpeed
> SubtractSpeed
> ms
> Compensation
> Center Point
> LASER_CIRCLE in the enumerated type series is61
> Process number1-9
> CONVEYOR_CHECKPOS in the enumerated type series is105
> Process number1-9
> CONVEYOR_CHECKEND in the enumerated type series is106
> Process number
> ACC 1-100
> V 2-1000
> CONVEYOR_ON in the enumerated type series is103
> Process number1-9
> CONVEYOR_OFF in the enumerated type series is104
> Process number1-9
> Global Position Variable
> CONVEYOR_POS in the enumerated type series is172
> Process number1-9
> DeleteDivideRange 0:All Targets 1:Current Target
> CONVEYOR_CLEAR in the enumerated type series is221
> ModuloAnalog Group Number
> AtomizationModuloAnalog
> FlowModuloAnalog
> Gun
> FanModuloAnalog
> Sequence Group Number
> SPRAY_ONin the enumerated type series is120
> ModuloAnalog Group Number
> AtomizationModuloAnalog
> FlowModuloAnalog
> Gun
> FanModuloAnalog
> Sequence Group Number
> SPRAY_OFFin the enumerated type series is121
> ModuloAnalog Group Number
> AtomizationModuloAnalog
> Color1-10
> FlowModuloAnalog
> Gun
> FanModuloAnalog
> Sequence Group Number
> SPRAY_CHANGEin the enumerated type series is122
> SprayingAddSpeed
> SprayingSubtractSpeed
> SprayingPL 0-5
> SprayingSpeed,2-1000mm/s
> ModuloAnalog Group Number
> AtomizationModuloAnalog
> FlowModuloAnalog
> Gun
> FanModuloAnalog
> Sequence Group Number
> Trajectory Group Number1-99
> SPRAY_MOVE in the enumerated type series is123
> VariablePostureAddSpeed
> VariablePostureSubtractSpeed
> Advance Execution,Natural Numberms
> Speed 2-1000mm/s
> ModuloAnalog Group Number
> AtomizationModuloAnalog
> FlowModuloAnalog
> Gun
> FanModuloAnalog
> Sequence Group Number
> Trajectory Group Number
> SPRAY_STARTPOS in the enumerated type series is124
> ACC Ratio(1-100)
> DEC Ratio(1-100)
> PL Range(0-5)
> V Range1-1000
> Point
> Polishing count 1-99
> Polishing angle -180~180
> ID 1-99
> Point
> POLISH_EDGE in the enumerated type series is107
> Angle-180-180
> Process number 1-99
> Advance Execution,Natural Numberms
> Count1-99
> POLISH_CONTINUE in the enumerated type series is129
> Process number
> POLISH_OFF in the enumerated type series is130
> Tracking File Number1-99
> Parameter TableDelay0-10
> Tracking Parameter Table Number1-99
> LASERTRACK_ON in the enumerated type series is83
> Tracking File Number1-99
> LASERTRACK_OFF in the enumerated type series is84
> Locating File Number
> SEARCH_START in the enumerated type series is149
> Locating File Number
> Parameter TableDelay0-10
> Output Position
> Locating Parameter Table Number1-99
> SEARCH_START in the enumerated type series is149
> SEARCH_DYNAMIC in the enumerated type series is151
> Point1
> Point2
> Point3
> Point4
> Point5
> Point6
> OutputResult
> SEARCH_CALC in the enumerated type series is152
> Locating File Number
> SEARCH_END in the enumerated type series is153
> Offset Amount
> SEARCH_OFFSET in the enumerated type series is154
> SEARCH_END in the enumerated type series is155
> TrackingFile Name
> true:Voltage,false:Arc Voltage
> ARCTRACKON in the enumerated type series is156
> TrackingFile Name
> true:Voltage,false:Arc Voltage
> ARCTRACKOFF in the enumerated type series is157
> Modify Instruction Index
> Modify InstructionjsonList
> 0:Default,1:Batch Modify,2:Batch Modify End
> std::localtime
> Modify Single Instruction,Adopt0x3123DeleteDivideCurrent Instruction Then0x3121Re-insert Modified Instruction at Current Line
> Batch Modify
> AddSpeedAdjustment Ratio(1~100)
> SubtractSpeedAdjustment Ratio(1~100)
> Movement Coordinate:JointCoordinateRF,Cartesian Coordinate BF,Tool Coordinate TF,User Coordinate UF
> Length
> Margin
> Positioning Level,Range0~5
> Polishing count (1~99)
> Polishing angle (-180~+180)
> Polishing ID (1~99)
> Position name
> Radius parameter
> Posture parameter 0=Posture unchanged 1=Six-axis no rotation 2=Six-axis rotation
> Whether Robot and External Axis are Synchronized 0 = No,1 = Yes
> Advance Execution,Natural Number(ms)
> MOVCADOUBLE in the enumerated type series is57
> Speed unit:0=cm/s 1=mm/s 2=percentage
> Speed
> 0:Default,1:Batch Modify,2:Batch Modify EndDelete Instruction
*0x3123 JOB_ERASE_INSTR
json
{
"robot":1,
"pos":1,
"time":"2020.02.26 10:11:06"
"savejobfile":false
}
> Modify Instruction Index
> std::localtimeInsertPosition
*0x3124 JOB_INSERT_POS
json
{
"robot": 1,
"robotpos": {
"ctype": 1,
"data": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"key": "P0014",
"paraVarData": [
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"time": "2024.06.19 11:08:48"
}
> WhenBeforeRobotNumber
> EType
> Total 21 Digits,FirstTwoPositionRepresentsCoordinate Third Digit Left/Right Hand 1-Left 2-Right,No.4,5Position Backup No.6,7Position Backup,No.8PositionandAfterand SaveCoordinateValue(14Position 7+7)
> Point
> Total 21 Digits,FirstTwoPositionRepresentsCoordinate Third Digit Left/Right Hand 1-Left 2-Right,No.4,5Position Backup No.6,7Position Backup,No.8PositionandAfterand SaveCoordinateValue(14Position 7+7ModifyPositon
*0x3125 JOB_MODIFY_POS
json
{
"robot": 1,
"robotpos":
{
"ctype": 1,
"data": [
1,
1,
8,
0,
0,
0,
0,
205.798,
-0.1,
964.486,
-3.141,
0.523,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"key": "P00014",
"paraVarData": [
{
"data": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 8,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 205.798,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": -0.1,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 964.486,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": -3.141,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0.523,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
{
"data": 0,
"secondvalue": 0,
"value": 0,
"varname": ""
}
]
},
"time": "2024.06.19 11:23:25"
}
> WhenBeforeRobot
> LocalVariable--Modify Point PointType RobotP-80,With PositionerE-69
> Type
> Total 21 Digits,FirstTwoPositionRepresentsCoordinate Third Digit Left/Right Hand 1-Left 2-Right,No.4,5Position Backup No.6,7Position Backup,No.8PositionandAfterand SaveCoordinateValue(14Position 7+7)
> Total 21 Digits,FirstTwoPositionRepresentsCoordinate Third Digit Left/Right Hand 1-Left 2-Right,No.4,5Position Backup No.6,7Position Backup,No.8PositionandAfterand SaveCoordinateValue(14Position 7+7)Modify Local ValueVariable
*0x3127 JOB_MODIFY_VALUEVAR
json
{
"robot": 1,
"varType": 1,
"varName": "D002",
"varValue": 3.3,
"time": "2020.02.26 10:11:06"
}
> int=0, double=1, Boolean=2TypeString
json
{
"robot": 1,
"varName": "S007",
"varString": "data",
"varType": 3
}Instruction Jump
When Controller Completes Running an Instruction, Sends Jump to Teach Pendant:
*0x3501 INSTRUCTION_COMPLETION
- Command Word: 0x2304 DEADMAN_MODE_SET
json
{
"robot":1,
"jobname":"Q1"
"num":3
}Note: "robot": Represents Robot 1, 2, 3, 4
"jobname": Job file name
"num": Line number
When Controller Executes CRAFTLINE Instruction, Sends Jump to Teach Pendant:
*0x3502 CRAFT_JUMP_LINE_NUM
- Command Word: 0x2304 DEADMAN_MODE_SET
json
{
"robot":1,
"num":2
}Note: "robot": Represents Robot 1, 2, 3, 4
"num": Line number
When Teach Pendant Establishes Network Connection with Controller,Teach PendantQueryCurrent Line Number:
*0x3503 INSTRUCTION_SHOW_INQUIRE
- Command Word: 0x2304 DEADMAN_MODE_SET
json
{
"robot":1
}Note: "robot": Represents Robot 1, 2, 3, 4
Controller ResponseQueryResult:
*0x3504 INSTRUCTION_SHOW_RESPOND
- Command Word: 0x2304 DEADMAN_MODE_SET
json
{
"robot": 1,
"jobname": "Q1",
"num": 3
}Note: "robot": Represents Robot 1, 2, 3, 4
"jobname": Job file name
"num": Line number
- Command Word: 0x2304 DEADMAN_MODE_SET