Instructions - Motion Control

External Axis Motion

Description: Motion instructions related to external axes can only be used when external axes exist.

MOVJEXT - External Axis Point-to-Point Motion

Instruction Type: type = 33

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaEVJ	double	[1, 100]	-	External axis speed adjustment ratio; when value is string "0", it means not used
ParaV	double	[1, 100]	%	Speed (m_vUnit must be 2)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out; true: this instruction will not be executed in the job file
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable; 1: bound variable, 0: not bound
RobotPos	object	-	-	Position information (not used when using bound variable positions)

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s
2	Percentage (only 2 can be used)

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaEVJ": {
        "data": 0.0,
        "secondvalue": 1,
        "value": 1,
        "varname": "GI[I001]"
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 33,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

MOVLEXT - External Axis Linear Motion

Instruction Type: type = 34

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaEVJ	double	[1, 100]	-	External axis speed adjustment ratio; when value is string "0", it means not used
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
ParaSYNC	int	0 or 1	-	Positioner synchronization; 0: No, 1: Synchronized
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaEVJ": {
        "data": 0.0,
        "secondvalue": 1,
        "value": 1,
        "varname": "GI[I001]"
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaSYNC": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 34,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

MOVCEXT - External Axis Arc Motion

Instruction Type: type = 35

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaEVJ	double	[1, 100]	-	External axis speed adjustment ratio; when value is string "0", it means not used
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
ParaSYNC	int	0 or 1	-	Positioner synchronization; 0: No, 1: Synchronized
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaEVJ": {
        "data": 0.0,
        "secondvalue": 1,
        "value": 1,
        "varname": "GI[I001]"
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaSYNC": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 35,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

EXTMOV - External Axis Follow Motion

Instruction Type: type = 144

Parameter Description

Parameter Name	Type	Range	Description
_pVarName	double	[-2000, 0) U (0, 2000]	Speed value
extaxle	int	1, 2, 3	External axis number; 1: O1, 2: O2, 3: O3
movtype	int	0, 1, 2	External axis follow mode; 0: Follow linear speed, 1: Constant speed motion, 2: Bound variable
p_move_type	object	-	When movtype is 2, the bound variable is this node
logout	bool	true/false	Whether commented out
userParamInt	int	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	Customer-defined for secondary development, currently meaningless

Example

json

{
    "_pVarName": {
        "data": 2.90,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "extaxle": 1,
    "logout": false,
    "movtype": 2,
    "p_move_type": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 1,
        "varname": "I001"
    },
    "p_speed_proportion_factor": {
        "data": 1.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "type": 144,
    "userParamInt": 0,
    "userParamString": ""
}

ENDEXTMOV - External Axis Follow Stop Motion

Instruction Type: type = 145

Parameter Description

Parameter Name	Type	Description
logout	bool	Whether commented out
userParamInt	int	Customer-defined for secondary development, currently meaningless
userParamString	string	Customer-defined for secondary development, currently meaningless

Example

json

{
    "logout": false,
    "type": 145,
    "userParamInt": 0,
    "userParamString": ""
}

GEARIN - Electronic Gear

Instruction Type: type = 148

Parameter Description

Parameter Name	Type	Range	Description
followAxle	int	1, 2, 3	Follow axis; 1=O1, 2=O2, 3=O3
mainAxle	int	1-6	Main axis; J1~J6 axes correspond to 1-6
proportionfactor	double	(0, 1000]	Proportional relationship (k); Follow axis speed (°/s) = K * Main axis speed (°/s)
logout	bool	true/false	Whether commented out
userParamInt	int	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	Customer-defined for secondary development, currently meaningless

Example

json

{
    "followAxle": 1,
    "logout": false,
    "mainAxle": 2,
    "proportionfactor": 3.0,
    "type": 148,
    "userParamInt": 0,
    "userParamString": ""
}

ENDGEARIN - Electronic Gear Stop

Instruction Type: type = 150

Parameter Description

Parameter Name	Type	Description
logout	bool	Whether commented out
userParamInt	int	Customer-defined for secondary development, currently meaningless
userParamString	string	Customer-defined for secondary development, currently meaningless

Example

json

{
    "logout": false,
    "type": 150,
    "userParamInt": 0,
    "userParamString": ""
}

MRESET - Reset External Axis Multi-Turn Rotation

Instruction Type: type = 149

Parameter Description

Parameter Name	Type	Range	Description
exterAxis	int	0, 1, 2, 3	External axis count; 0: all axes, 1=O1, 2=O2, 3=O3
logout	bool	true/false	Whether commented out
userParamInt	int	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	Customer-defined for secondary development, currently meaningless

Example

json

{
    "logout": false,
    "type": 149,
    "userParamInt": 0,
    "userParamString": "",
    "exterAxis": 1
}

Dual-Robot Motion

Description: Must first be set to dual-robot mode.

MOVJDOUBLE - Dual-Robot Point-to-Point Motion

Instruction Type: type = 59

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaV	double	[1, 100]	%	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 59,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

MOVLDOUBLE - Dual-Robot Linear Motion

Instruction Type: type = 56

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 56,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

MOVCDOUBLE - Dual-Robot Arc Motion

Instruction Type: type = 57

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 57,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

MOVCADOUBLE - Dual-Robot Full Circle Motion

Instruction Type: type = 58

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaSPIN	int	0, 1, 2	-	Orientation parameter; 0: orientation unchanged, 1: six-axis no rotation, 2: six-axis rotation
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaSPIN": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "E0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 58,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "E0001",
    "posidtype": 0
}

External Point Motion

Description: Uses position information sent via MODBUS or TCP for motion.

MOVCOMM - External Point Motion

Instruction Type: type = 101

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaV	double	[2, 1000] or [1, 100]	mm/s or %	Speed; range determined by m_vUnit and moveType
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
moveType	string	MovJ/MovL/MovS/MovC	-	Interpolation method; MovJ: Joint, MovL: Linear, MovS: Curve, MovC: Arc
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless

m_vUnit Speed Unit Description

m_vUnit Value	Unit	Applicable Interpolation	Speed Range
1	mm/s	Linear, Curve, Arc	[2, 1000]
2	%	Joint	[1, 100]

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 2,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "type": 101,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "moveType": "MovS"
}

Drag Trajectory Motion

Description: Uses the original drag trajectory for motion.

DRAG_TRAJECTORY - Drag Trajectory

Instruction Type: type = 174

Parameter Description

Parameter Name	Type	Range	Unit	Description
trackName	string	-	-	Trajectory name; starts with ##, ends with $$
trackSpeed	double	0~500	%	Trajectory playback speed
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless

Example

json

{
    "logout": false,
    "type": 174,
    "userParamInt": 0,
    "userParamString": "",
    "trackName": "##RRR$$",
    "trackSpeed": 3
}

Switch Payload Number

Description: Does not switch the tool, only switches the payload number.

SWITCHPAYLOAD - Switch Payload Number

Instruction Type: type = 219

Parameter Description

Parameter Name	Type	Range	Description
_pVarName	object	-	Payload number parameter
logout	bool	true/false	Whether commented out
userParamInt	int	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	Customer-defined for secondary development, currently meaningless

Payload Number Range

Range	Description
1-999	int type

Example

json

{
    "logout": false,
    "type": 219,
    "userParamInt": 0,
    "userParamString": "",
    "_pVarName": {
        "data": 1.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    }
}

External Reference Point Motion

Description: External reference point refers to using a point in space as the control point of the robot body.

EIMOVL - External Reference Point Linear

Instruction Type: type = 233

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 233,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

EIMOVC - External Reference Point Arc

Instruction Type: type = 233

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" }
        ]
    },
    "type": 233,
    "logout": false,
    "userParamInt": 0,
    "userParamString": "",
    "posidname": "",
    "positionId": "P0001",
    "posidtype": 0
}

EIMOVCA - External Reference Point Full Circle

Instruction Type: type = 235

Parameter Description

Parameter Name	Type	Range	Unit	Description
ParaACC	double	[1, 100]	%	Acceleration
ParaDEC	double	[1, 100]	%	Deceleration
ParaSPIN	int	0	-	Orientation parameter; 0: orientation unchanged
ParaV	double	[1, 1000]	mm/s	Speed (m_vUnit must be 1)
ParaPL	double	[0, 5]	-	Smoothness
ParaTIME	double	Natural number	-	Advance execution time
logout	bool	true/false	-	Whether commented out
userParamInt	int	-	-	Customer-defined for secondary development, currently meaningless
userParamString	string	-	-	Customer-defined for secondary development, currently meaningless
posidname	string	-	-	Position name when bound to a variable
positionId	string	-	-	Position name when not bound to a variable
posidtype	int	0 or 1	-	Whether the position is bound to a variable
RobotPos	object	-	-	Position information

m_vUnit Speed Unit Description

Value	Description
0	cm/s
1	mm/s (only 1 can be used)
2	Percentage

Example

json

{
    "ParaACC": {
        "data": 4.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaDEC": {
        "data": 6.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaPL": {
        "data": 2.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaTIME": {
        "data": 5.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "ParaV": {
        "data": 1.0,
        "m_vUnit": 1,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "RobotPos": {
        "ctype": 2,
        "data": [
            5.0, 1.0, 0.0, 3.0, 4.0, 0.0, 0.0, 6.0, 0.0, 6.0, 3.142, 0.0,
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        ],
        "key": "P0001",
        "note": "",
        "paraVarData": [
            { "data": 5.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 1.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.0, "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": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 0.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 6.0, "secondvalue": 0, "value": 0, "varname": "" },
            { "data": 3.142, "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": "" },
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            { "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": "" }
        ]
    },
    "type": 235,
    "logout": false,
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    "positionId": "P0001",
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}

01.Custom-Instructions

01.Teach-Pendant-Impl

02.Controller-Impl

01.Getting-Started

03.API-Examples

01.Basic

02.Advanced

01.Getting-Started

02.API-Examples

01.Getting-Started

02.API-Examples

01.Basic

02.Advanced

02.Port-6000-Communication

01.Motion-Control

02.State-Control

03.Processes

06.Laser-Cutting

04.Job-Files

05.External-Control

06.Others

01.System

02.Robot

01.Parameters

03.Program

02.Instruction-CRUD

04.Peripherals-Communication

05.Processes

Instructions - Motion Control ​

External Axis Motion ​

MOVJEXT - External Axis Point-to-Point Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

MOVLEXT - External Axis Linear Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

MOVCEXT - External Axis Arc Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

EXTMOV - External Axis Follow Motion ​

Parameter Description ​

Example ​

ENDEXTMOV - External Axis Follow Stop Motion ​

Parameter Description ​

Example ​

GEARIN - Electronic Gear ​

Parameter Description ​

Example ​

ENDGEARIN - Electronic Gear Stop ​

Parameter Description ​

Example ​

MRESET - Reset External Axis Multi-Turn Rotation ​

Parameter Description ​

Example ​

Dual-Robot Motion ​

MOVJDOUBLE - Dual-Robot Point-to-Point Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

MOVLDOUBLE - Dual-Robot Linear Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

MOVCDOUBLE - Dual-Robot Arc Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

MOVCADOUBLE - Dual-Robot Full Circle Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

External Point Motion ​

MOVCOMM - External Point Motion ​

Parameter Description ​

m_vUnit Speed Unit Description ​

Example ​

Drag Trajectory Motion ​

Instructions - Motion Control

External Axis Motion

MOVJEXT - External Axis Point-to-Point Motion

Parameter Description

m_vUnit Speed Unit Description

Example

MOVLEXT - External Axis Linear Motion

Parameter Description

m_vUnit Speed Unit Description

Example

MOVCEXT - External Axis Arc Motion

Parameter Description

m_vUnit Speed Unit Description

Example

EXTMOV - External Axis Follow Motion

Parameter Description

Example

ENDEXTMOV - External Axis Follow Stop Motion

Parameter Description

Example

GEARIN - Electronic Gear

Parameter Description

Example

ENDGEARIN - Electronic Gear Stop

Parameter Description

Example

MRESET - Reset External Axis Multi-Turn Rotation

Parameter Description

Example

Dual-Robot Motion

MOVJDOUBLE - Dual-Robot Point-to-Point Motion

Parameter Description

m_vUnit Speed Unit Description

Example

MOVLDOUBLE - Dual-Robot Linear Motion

Parameter Description

m_vUnit Speed Unit Description

Example

MOVCDOUBLE - Dual-Robot Arc Motion

Parameter Description

m_vUnit Speed Unit Description

Example

MOVCADOUBLE - Dual-Robot Full Circle Motion

Parameter Description

m_vUnit Speed Unit Description

Example

External Point Motion

MOVCOMM - External Point Motion

Parameter Description

m_vUnit Speed Unit Description

Example

Drag Trajectory Motion

DRAG_TRAJECTORY - Drag Trajectory

Parameter Description

Example

Switch Payload Number

SWITCHPAYLOAD - Switch Payload Number

Parameter Description

Payload Number Range

Example

External Reference Point Motion

EIMOVL - External Reference Point Linear

Parameter Description

m_vUnit Speed Unit Description

Example

EIMOVC - External Reference Point Arc

Parameter Description

m_vUnit Speed Unit Description

Example

EIMOVCA - External Reference Point Full Circle

Parameter Description

m_vUnit Speed Unit Description

Example