Instructions - General Motion
1. MOVJ Point-to-Point Motion
Description: Point-to-point motion is joint motion, unit is %.
Parameter Description
| Parameter | Type | Value Range | Unit | Description |
|---|---|---|---|---|
| ParaACC | double | [1,100] | % | Acceleration |
| ParaDEC | double | [1,100] | % | Deceleration |
| ParaV | double | [1,100] | % | Speed, m_vUnit must be 2 |
| ParaPL | double | [0,5] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| type | int | 1 | - | Instruction type, 1 indicates MOVJ instruction |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": "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": 1,
"logout": false,
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0
}2. MOVL Linear Motion
Description: Linear motion speed unit is mm.
Parameter Description
| Parameter | Type | Value 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] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| type | int | 2 | - | Instruction type, 2 indicates MOVL instruction |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
m_vUnit Speed Unit Description
| Value | Unit |
|---|---|
| 0 | cm/s |
| 1 | mm/s |
| 2 | Percentage |
Only 1 (mm/s) can be used for linear motion.
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": 2,
"logout": false,
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0
}3. MOVC Circular Motion
Description: When in use, a linear or point-to-point instruction and two circular instructions are needed. These three points define an arc.
Parameter Description
| Parameter | Type | Value 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] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| ParaSPIN | double | 0 or 1 | - | Posture parameter: 0=taught posture, 1=posture tilt angle unchanged |
| type | int | 3 | - | Instruction type, 3 indicates MOVC instruction |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": ""
},
"ParaSPIN": {
"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": 3,
"logout": false,
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0
}4. MOVCA Full Circle Insertion
Description: Full circle motion requires a point-to-point or linear motion, plus two full circle motion instructions.
Parameter Description
| Parameter | Type | Value 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] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| ParaSPIN | double | 0,1,2 | - | Posture parameter: 0=posture unchanged, 1=sixth axis does not rotate, 2=sixth axis rotates |
| type | int | 4 | - | Instruction type, 4 indicates MOVCA instruction |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": ""
},
"ParaSPIN": {
"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": 4,
"logout": false,
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0
}5. MOVS Curve Insertion
Description: Curve motion is an S-shaped motion trajectory, requiring a point-to-point or linear instruction, plus four curve motion instructions.
Parameter Description
| Parameter | Type | Value 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] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| type | int | 6 | - | Instruction type, 6 indicates MOVS instruction |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": ""
},
"ParaSPIN": {
"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": 6,
"logout": false,
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0
}6. IMOV Incremental Motion
Description: Incremental motion adds a certain amount to each axis based on the current position. The point information at this time is the amount added to each axis.
Parameter Description
| Parameter | Type | Value Range | Unit | Description |
|---|---|---|---|---|
| ParaACC | double | [1,100] | % | Acceleration |
| ParaDEC | double | [1,100] | % | Deceleration |
| ParaV | double | [1,100] | % | Speed, m_vUnit must be 2 |
| ParaPL | double | [0,5] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| type | int | 5 | - | Instruction type, 5 indicates IMOV instruction |
| imovecoord | string | - | - | Motion coordinate: RF=joint coordinate, BF=Cartesian coordinate, TF=tool coordinate, UF=user coordinate |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": "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": 5,
"logout": false,
"imovecoord": "RF",
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0
}7. MOVARCH Gate Motion
Description: Gate motion raises or lowers from the current position to a specified height, then moves on that plane to above or below the target point, and finally raises or lowers to the target point.
Parameter Description
| Parameter | Type | Value 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 |
| ParaSPIN | double | [0,1] | - | Joint motion mode: 0=joint, 1=Cartesian |
| ParaPL | double | [0,5] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| type | int | 231 | - | Instruction type, 231 indicates MOVARCH instruction |
| offsetAxis | int | [0,2] | - | Displacement axis: 0=X, 1=Y, 2=Z |
| para_line_or_coord_max_ | double | - | - | Maximum coordinate value or maximum height value |
| axis_offset_type_ | int | 0 or 1 | - | Offset mode: 1=maximum coordinate, 0=maximum height |
| para_straight_up_ | double | - | - | Vertical rise distance |
| para_straight_down_ | double | - | - | Vertical descent distance |
| use_arch_params_table_enable_ | int | 0 or 1 | - | Whether to use parameter table |
| arch_param_group_index_ | int | [0,6] | - | Parameter table group number |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": ""
},
"ParaSPIN": {
"data": 0,
"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": 231,
"logout": false,
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0,
"offsetAxis": 0,
"para_line_or_coord_max_": 0.0,
"axis_offset_type_": 1,
"para_straight_up_": 0.0,
"para_straight_down_": 0.0,
"use_arch_params_table_enable_": 0,
"arch_param_group_index_": 0
}8. MOVARCHEXT Extended Gate Motion
Description: Gate motion raises or lowers from the current position to a specified height, then moves on that plane to above or below the target point, and finally raises or lowers to the target point.
Parameter Description
| Parameter | Type | Value 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] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| type | int | 275 | - | Instruction type, 275 indicates MOVARCHEXT instruction |
| offsetAxis | int | [0,2] | - | Displacement axis: 0=X, 1=Y, 2=Z |
| para_straight_up_ | double | - | - | Vertical rise distance |
| para_straight_down_ | double | - | - | Vertical descent distance |
| use_arch_params_table_enable_ | int | 0 or 1 | - | Whether to use parameter table |
| arch_param_group_index_ | int | [0,6] | - | Parameter table group number |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
Point Information Description
- RobotPos: Target point position information
- RobotPos1: Approach point position information
- RobotPos2: Transfer point position information
When using variable-bound points, the corresponding node is not used.
JSON 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": 275,
"logout": false,
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0,
"offsetAxis": 0,
"para_straight_up_": 0.0,
"para_straight_down_": 0.0,
"use_arch_params_table_enable_": 0,
"arch_param_group_index_": 0
}9. SPEED Global Speed
Description: This instruction can be used to set the global speed.
Parameter Description
| Parameter | Type | Value Range | Unit | Description |
|---|---|---|---|---|
| type | int | 31 | - | Instruction type, 31 indicates SPEED instruction |
| paraSpeed | int | [1,200] | % | Global speed |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
JSON Example
json
{
"type": 31,
"paraSpeed": {
"data": 150.0,
"secondvalue": 0,
"value": 0,
"varname": ""
},
"logout": false,
"userParamInt": 0,
"userParamString": ""
}10. SAMOV Point-to-Point Move
Description: Point-to-point move can use different coordinate systems for movement.
Parameter Description
| Parameter | Type | Value Range | Unit | Description |
|---|---|---|---|---|
| ParaACC | double | [1,100] | % | Acceleration |
| ParaDEC | double | [1,100] | % | Deceleration |
| ParaV | double | [2,1000] | mm/s | Speed, m_vUnit must be 1 |
| ParaPL | double | [0,5] | - | Smoothing variable |
| ParaTIME | double | Natural number | - | Advance execution time |
| type | int | 59 | - | Instruction type, 59 indicates SAMOV instruction |
| imovecoord | string | - | - | Motion coordinate: RF=joint coordinate, BF=Cartesian coordinate, TF=tool coordinate, UF=user coordinate |
| logout | bool | - | - | Whether commented out, true means not executed |
| userParamInt | int | - | - | Secondary development custom parameter |
| userParamString | string | - | - | Secondary development custom parameter |
| posidname | string | - | - | Point name when bound to variable |
| positionId | string | - | - | Point name when not bound to variable |
| posidtype | int | 0 or 1 | - | Point type: 1=bound to variable, 0=not bound to variable |
RobotPos Point Information
When using variable-bound points, this node is not used.
JSON 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": "AP0001",
"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,
"imovecoord": "RF",
"userParamInt": 0,
"userParamString": "",
"posidname": "",
"positionId": "P0001",
"posidtype": 0
}