Instructions - Conditional Control

Call Subroutine (CALL)

Description: Calls another program. When the called program finishes running, it returns to the line after the CALL instruction in the main program.

Instruction Name: CALL

Parameter	Type	Required	Description
callInParaVarData	array	No	Number and selection of input parameters; 0-12 elements. Element format: `{"data":0.0,"secondvalue":0,"value":2,"varname":"D001"}`
callOutParaVarData	array	No	Number and selection of output parameters; 0-12 elements. Element format: `{"data":0.0,"secondvalue":0,"value":2,"varname":"D001"}`
jobName	string	Yes	Called program name, cannot be itself, the called program must have parameter declarations
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CALL is 15 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example: With two parameters

json

{
    "callInParaVarData": [
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 2,
            "varname": "D001"
        },
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 2,
            "varname": "D002"
        }
    ],
    "callOutParaVarData": [
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 5,
            "varname": "GD003"
        },
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 5,
            "varname": "GD004"
        }
    ],
    "jobName": "QQQQ",
    "logout": false,
    "type": 15,
    "userParamInt": 0,
    "userParamString": ""
}

Return (RETURN)

Description: Exits the currently running job file, e.g.: subroutine, background program.

Instruction Name: RETURN

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	RETURN is 251 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 251,
    "userParamInt": 0,
    "userParamString": ""
}

Call Lua File (CALL_LUAFILE)

Description: After defining parameters, upload the Lua file, then insert the call Lua file instruction. After the instruction finishes running, all defined parameter variables will be passed in and output.

Instruction Name: CALL_LUAFILE

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CALL_LUAFILE is 218 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
inParaVarData	array	No	Number and selection of input parameters; element count [0-12]. Element format: `{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"}`
luafileName	string	Yes	The called lua file
outParaVarData	array	No	Number and selection of output parameters; element count [0-12]. Element format: `{"data":0.0,"secondvalue":0,"value":1,"varname":"I001"}`
textEditType	bool	No	Text compilation type; true: text type, false: statement type

Example:

json

{
    "logout": false,
    "type": 218,
    "userParamInt": 0,
    "userParamString": "",
    "inParaVarData": [
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 1,
            "varname": "I001"
        },
        {
            "data": 2.0,
            "secondvalue": 0,
            "value": 0,
            "varname": ""
        }
    ],
    "luafileName": "demo.lua",
    "outParaVarData": [
        {
            "data": 3.0,
            "secondvalue": 0,
            "value": 0,
            "varname": ""
        },
        {
            "data": 6.0,
            "secondvalue": 0,
            "value": 0,
            "varname": ""
        }
    ],
    "textEditType": true
}

If (IF)

Description: Determines whether the condition is satisfied to execute the next target instruction. When the condition is not satisfied, the ELSEIF statement is executed. IF and ENDIF must be used as a pair and cannot be deleted or changed individually, otherwise it will cause program runtime errors. ELSE IF cannot be used independently without IF. ELSE cannot be used independently without IF.

Instruction Name: IF

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	IF is 9 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
ifconditionArrayFINAL	object	Yes	Represents the if condition; the data inside {} is the if condition data

ifconditionArrayFINAL Structure:

Parameter	Type	Description
conditionGroup	array	The number of elements indicates how many conditions there are
logic	array	The relationship between if conditions, in the order of array elements; 1: OR, 0: AND
logicGroup	array	The condition logic for elements in the conditionGroup node; 1: OR, 0: AND, null means no logic at this level

conditionGroup Element Structure:

Parameter	Type	Description
logicType	int	If condition comparison method; 1: ==, 2: <, 3: >, 4: <=, 5: >=, 6: !=
paraGroupOne	object	Variable 1, format: `{"data":0.0,"secondvalue":0,"value":1,"varname":"I002"}`
paraGroupTwo	object	Variable 2, format: `{"data":0.0,"secondvalue":0,"value":1,"varname":"I002"}`

Example:

json

{
    "logout": false,
    "type": 9,
    "userParamInt": 0,
    "userParamString": "",
    "ifconditionArrayFINAL": {
        "conditionGroup": [
            [
                {
                    "logicType": 2,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I001"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ],
            [
                {
                    "logicType": 1,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I001"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ],
            [
                {
                    "logicType": 6,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I002"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ]
        ],
        "logic": [1, 0]
    }
}

End If (END IF)

Instruction Name: END IF

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	END IF is 12 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 12,
    "userParamInt": 0,
    "userParamString": ""
}

Else If (ELSE IF)

Instruction Name: ELSE IF

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	ELSE IF is 11 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
ifconditionArrayFINAL	object	Yes	Represents the if condition; the data inside {} is the if condition data

ifconditionArrayFINAL Structure:

Parameter	Type	Description
conditionGroup	array	The number of elements indicates how many parallel conditions there are, elements within the array are parallel conditions
logic	array	The relationship between if conditions, in the order of array elements; 1: OR, 0: AND
logicGroup	array	The condition logic for elements in the conditionGroup node; 1: OR, 0: AND, null means no logic at this level

Example:

json

{
    "logout": false,
    "type": 11,
    "userParamInt": 0,
    "userParamString": "",
    "ifconditionArrayFINAL": {
        "conditionGroup": [
            [
                {
                    "logicType": 2,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I001"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ],
            [
                {
                    "logicType": 1,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I001"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ],
            [
                {
                    "logicType": 6,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I002"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ]
        ],
        "logic": [1, 0]
    }
}

Else (ELSE)

Instruction Name: ELSE

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	ELSE is 10 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 10,
    "userParamInt": 0,
    "userParamString": ""
}

Wait (WAIT)

Description: The program is in a waiting state until the condition is satisfied. After the condition is satisfied, the program continues to execute the instruction following the WAIT instruction.

Instruction Name: WAIT

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	WAIT is 8 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
m_filterTime	double	No	Filter time, the time the input signal must satisfy; [0,9999]s. Filter time must be less than wait time
paraTime	object	No	Wait time; double type; [0.01,9999]s
para_wait_result_	object	No	Wait result, true when condition is satisfied; bool type
waitConditionFinal	object	No	The conditions and variables participating in the judgment inside {}
wait_value_check_	bool	No	Whether to accept the result; true: "para_wait_result_" node exists, false: does not exist

waitConditionFinal Structure:

Parameter	Type	Description
conditionGroup	array	The number of elements indicates how many parallel conditions there are, elements within the array are parallel conditions
logic	array	The relationship between if conditions, in the order of array elements; 1: OR, 0: AND
logicGroup	array	The condition logic for elements in the conditionGroup node; 1: OR, 0: AND, null means no logic at this level

Example:

json

{
    "logout": false,
    "type": 8,
    "userParamInt": 0,
    "userParamString": "",
    "m_filterTime": 66.0,
    "paraTime": {
        "data": 77.0,
        "secondvalue": 0,
        "value": 0,
        "varname": ""
    },
    "para_wait_result_": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 3,
        "varname": "B005"
    },
    "waitConditionFinal": {
        "conditionGroup": [
            [
                {
                    "logicType": 1,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I002"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I003"
                    }
                }
            ],
            [
                {
                    "logicType": 2,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I004"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I005"
                    }
                }
            ],
            [
                {
                    "logicType": 3,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I006"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I007"
                    }
                }
            ]
        ],
        "logic": [1, 0]
    },
    "wait_value_check_": true
}

WHILE Loop (WHILE)

Description: When the condition is true, the instructions inside the loop body are repeatedly executed. Inserting a WHILE instruction simultaneously inserts an ENDWHILE instruction. To delete a WHILE instruction, also delete the corresponding ENDWHILE instruction, otherwise the program will not run. When the program starts with WHILE and the last instruction is ENDWHILE, please insert a TIMER (delay) instruction at the beginning or end of the program. Otherwise, when the WHILE condition is not satisfied, the program may freeze. When the instructions inside WHILE do not contain motion instructions or may fall into an infinite loop in certain situations, please insert a TIMER (delay) instruction between WHILE and ENDWHILE, otherwise the program may freeze when the WHILE condition is satisfied. When the WHILE condition is satisfied, the instructions between WHILE and ENDWHILE will be executed in a loop. If the condition is not satisfied before reaching the WHILE instruction, when the WHILE instruction is reached, it will jump directly to the ENDWHILE instruction without executing the instructions between WHILE and ENDWHILE; if the condition becomes unsatisfied while executing instructions between WHILE and ENDWHILE, execution will continue until reaching the ENDWHILE line, then it will stop looping and continue executing the instructions below ENDWHILE.

Instruction Name: WHILE

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	WHILE is 13 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
whileconditionArrayFINAL	object	Yes	Represents the while condition; the data inside {} is the while condition data

whileconditionArrayFINAL Structure:

Parameter	Type	Description
conditionGroup	array	The number of elements indicates how many parallel conditions there are, elements within the array are parallel conditions
logic	array	The relationship between while conditions, in the order of array elements; 1: OR, 0: AND
logicGroup	array	The condition logic for elements in the conditionGroup node; 1: OR, 0: AND, null means no logic at this level

Example:

json

{
    "logout": false,
    "type": 13,
    "userParamInt": 0,
    "userParamString": "",
    "whileconditionArrayFINAL": {
        "conditionGroup": [
            [
                {
                    "logicType": 1,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I002"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I003"
                    }
                }
            ],
            [
                {
                    "logicType": 2,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I004"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I005"
                    }
                }
            ],
            [
                {
                    "logicType": 3,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I007"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I006"
                    }
                },
                {
                    "logicType": 4,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I008"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I009"
                    }
                }
            ]
        ],
        "logic": [0, 1],
        "logicGroup": [null, null, [0]]
    }
}

End Loop (ENDWHILE)

Instruction Name: ENDWHILE

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	ENDWHILE is 14 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 14,
    "userParamInt": 0,
    "userParamString": ""
}

LABEL (LABEL)

Description: Specifies a label for the jump target line. Two label instructions with the same label name cannot be inserted in the same program. Label instructions do not support move up/down operations.

Instruction Name: LABEL

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	LABEL is 51 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
label	string	Yes	Label name; format: `[$......$]`

Example:

json

{
    "logout": false,
    "type": 51,
    "userParamInt": 0,
    "userParamString": "",
    "label": "[$EAFF$]"
}

JUMP (JUMP)

Description: Jumps to the instruction line of the specified label number. When the condition is satisfied, it jumps to the LABEL instruction line; if the condition is not satisfied, the JUMP instruction is ignored and execution continues to the line after the JUMP instruction. The JUMP instruction must be used together with the LABEL instruction. The JUMP instruction cannot jump across programs. For example, if a LABEL [$Q1$] instruction is inserted in the main program and a JUMP [$Q1$] instruction is inserted in a subroutine, the program will report an error.

Instruction Name: JUMP

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	JUMP is 52 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
jumpCondition	object	No	Represents the if condition; the data inside {} is the if condition data
jumpConditionFlag	bool	No	Whether to use the condition; true: use, false: do not use
label	string	Yes	Label name; format: `[$......$]`

jumpCondition Structure:

Parameter	Type	Description
conditionGroup	array	The number of elements indicates how many parallel conditions there are, elements within the array are parallel conditions
logic	array	The relationship between if conditions, in the order of array elements; 1: OR, 0: AND
logicGroup	array	The condition logic for elements in the conditionGroup node; 1: OR, 0: AND, null means no logic at this level

Example:

json

{
    "logout": false,
    "type": 52,
    "userParamInt": 0,
    "userParamString": "",
    "jumpCondition": {
        "conditionGroup": [
            [
                {
                    "logicType": 3,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I005"
                    },
                    "paraGroupTwo": {
                        "data": 89.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                },
                {
                    "logicType": 3,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I001"
                    },
                    "paraGroupTwo": {
                        "data": 88.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ],
            [
                {
                    "logicType": 6,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I089"
                    },
                    "paraGroupTwo": {
                        "data": 78.0,
                        "secondvalue": 0,
                        "value": 0,
                        "varname": ""
                    }
                }
            ]
        ],
        "logic": [1],
        "logicGroup": [[0]]
    },
    "jumpConditionFlag": true,
    "label": "[$EAFF$]"
}

UNTIL (UNTIL)

Description: When the condition is not satisfied, the instructions between UNTIL and ENDUNTIL are repeatedly executed; when the condition is satisfied, execution jumps directly to the instruction below ENDUNTIL. Inserting a UNTIL instruction simultaneously inserts an ENDUNTIL instruction. To delete a UNTIL instruction, also delete the corresponding ENDUNTIL instruction, otherwise the program will not run.

Instruction Name: UNTIL

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	UNTIL is 87 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
untilconditionArrayFINAL	object	Yes	The judgment data inside {}

untilconditionArrayFINAL Structure:

Parameter	Type	Description
conditionGroup	array	The number of elements indicates how many parallel conditions there are, elements within the array are parallel conditions
logic	array	The relationship between if conditions, in the order of array elements; 1: OR, 0: AND
logicGroup	array	The condition logic for elements in the conditionGroup node; 1: OR, 0: AND, null means no logic at this level

Example:

json

{
    "logout": false,
    "type": 87,
    "userParamInt": 0,
    "userParamString": "",
    "untilconditionArrayFINAL": {
        "conditionGroup": [
            [
                {
                    "logicType": 1,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I001"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I002"
                    }
                },
                {
                    "logicType": 1,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I003"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I004"
                    }
                }
            ],
            [
                {
                    "logicType": 1,
                    "paraGroupOne": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I005"
                    },
                    "paraGroupTwo": {
                        "data": 0.0,
                        "secondvalue": 0,
                        "value": 1,
                        "varname": "I006"
                    }
                }
            ]
        ],
        "logic": [0],
        "logicGroup": [[1]]
    }
}

End Until (ENDUNTIL)

Instruction Name: ENDUNTIL

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	ENDUNTIL is 88 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 88,
    "userParamInt": 0,
    "userParamString": ""
}

Craft Line (CRAFTLINE)

Description: Used only for dedicated processes. Inserting this instruction in the program sets the corresponding line number. When running the program in the dedicated process interface, it will first jump to the corresponding line number.

Instruction Name: CRAFTLINE

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CRAFTLINE is 89 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
line	int	Yes	Corresponding instruction line number in the dedicated process interface; [1,999]

Example:

json

{
    "logout": false,
    "type": 89,
    "userParamInt": 0,
    "userParamString": "",
    "line": 3
}

Instruction Note (CMDNOTE)

Description: Dedicated process instruction. After running this instruction in the program, it will jump to the corresponding line number in the dedicated process interface.

Instruction Name: CMDNOTE

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CMDNOTE is 127 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
note	string	Yes	Note content; format: `##.......$$`

Example:

json

{
    "logout": false,
    "type": 127,
    "userParamInt": 0,
    "userParamString": "",
    "note": "##ADSDDD$$"
}

Reachability Check (POS_REACHABLE)

Description: Determines whether the target point can be reached. If the point can be reached, the variable storing the status is set to 1; if not, it is set to 0.

Instruction Name: POS_REACHABLE

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	POS_REACHABLE is 133 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
moveType	int	No	Motion type; 0-MOVJ, 1-MOVL
positionId	string	Yes	Position variable name
_pVarName	object	Yes	Status storage variable

Example:

json

{
    "logout": false,
    "type": 133,
    "userParamInt": 0,
    "userParamString": "",
    "moveType": 0,
    "positionId": "GP0001",
    "_pVarName": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 6,
        "varname": "GB001"
    }
}

Timer (CLKSTART / CLKSTOP / CLKRESET)

Description: Running this instruction starts timing and records the time to a local or global DOUBLE variable. Stopping the corresponding numbered timer stops timing, and the value already stored in the variable will not be reset to zero after stopping.

Timer Start (CLKSTART)

Instruction Name: CLKSTART

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CLKSTART is 128 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
ID	int	Yes	Timer number; [1,32]
_pVarName	object	Yes	Storage variable

Example:

json

{
    "logout": false,
    "type": 128,
    "userParamInt": 0,
    "userParamString": "",
    "ID": 5,
    "_pVarName": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 2,
        "varname": "D001"
    }
}

Timer Stop (CLKSTOP)

Instruction Name: CLKSTOP

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CLKSTOP is 129 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
ID	int	Yes	Timer number; [1,32]

Example:

json

{
    "logout": false,
    "type": 129,
    "userParamInt": 0,
    "userParamString": "",
    "ID": 5
}

Timer Reset (CLKRESET)

Instruction Name: CLKRESET

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CLKRESET is 130 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
ID	int	Yes	Timer number; [1,32]

Example:

json

{
    "logout": false,
    "type": 130,
    "userParamInt": 0,
    "userParamString": "",
    "ID": 5
}

Read Linear Velocity (READLINEAR / STOPREADLINEAR)

Description: Real-time reading of the robot's linear velocity while the robot is running, storing the read velocity into a variable. When inserting the read linear velocity instruction, the stop read linear velocity instruction is also inserted simultaneously. To delete the read linear velocity instruction, also delete the corresponding stop linear velocity instruction, otherwise the program will report an error.

Read Linear Velocity (READLINEAR)

Instruction Name: READLINEAR

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	READLINEAR is 146 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
_pVarName	object	Yes	Variable; int type or double type

Example:

json

{
    "logout": false,
    "type": 146,
    "userParamInt": 0,
    "userParamString": "",
    "_pVarName": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 4,
        "varname": "GI003"
    }
}

Stop Read Linear Velocity (STOPREADLINEAR)

Instruction Name: STOPREADLINEAR

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	STOPREADLINEAR is 147 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 147,
    "userParamInt": 0,
    "userParamString": ""
}

Call Lua Statement (CALL_LUASTRING)

Description: Achieves corresponding functionality or operations by calling Lua statements.

Instruction Name: CALL_LUASTRING

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	CALL_LUASTRING is 230 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
textEditType	bool	No	Text compilation type; true: text type, false: statement type
variable	object	No	Lua statement variable

Example:

json

{
    "logout": false,
    "type": 230,
    "userParamInt": 0,
    "userParamString": "",
    "textEditType": false,
    "variable": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 8,
        "varname": "S001"
    }
}

Parameter Declaration (PARAM_DECLARATION)

Description: Declares parameters to be input or output. Input parameters will be received and used by the subroutine, and output parameters will be returned to the main program for use.

Instruction Name: PARAM_DECLARATION

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	PARAM_DECLARATION is 237 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
declareInParaVarData	array	No	Input parameter variables; element count equals the number of input parameters; parameter count [0,12]
declareInParaVarValues	array	No	Input parameter default values; element count equals the number of input parameters; parameter count [0,12]
declareInParaVarnote	array	No	Input parameter notes; element count equals the number of input parameters; parameter count [0,12]
declareOutParaVarData	array	No	Output parameter values; element count equals the number of output parameters; parameter count [0,12]
declareOutParaVarnote	array	No	Output parameter notes; element count equals the number of output parameters; parameter count [0,12]

Example:

json

{
    "logout": false,
    "type": 237,
    "userParamInt": 0,
    "userParamString": "",
    "declareInParaVarData": [
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 1,
            "varname": "I001"
        },
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 1,
            "varname": "I002"
        },
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 1,
            "varname": "I003"
        }
    ],
    "declareInParaVarValues": [
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 2,
            "varname": "D001"
        },
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 2,
            "varname": "D002"
        },
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 2,
            "varname": "D003"
        }
    ],
    "declareInParaVarnote": [
        "000",
        "111",
        "222"
    ],
    "declareOutParaVarData": [
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 3,
            "varname": "B001"
        },
        {
            "data": 0.0,
            "secondvalue": 0,
            "value": 3,
            "varname": "B002"
        }
    ],
    "declareOutParaVarnote": [
        "333",
        "4444"
    ]
}

Wait for Position Reached (WAIT_POS)

Description: The end of MOV instruction execution does not mean the servo motion is finished; it only means the point has been dispatched. This instruction waits for the servo motor to precisely reach the point before executing the next instruction. This instruction only takes effect when used after a motion instruction. This instruction only supports foreground programs; background programs do not have motion instructions and naturally do not need to use it. This instruction does not support advance execution. If the robot reaches the point between the minimum wait time and the maximum wait time, it will exit waiting and execute the next instruction.

Instruction Name: WAIT_POS

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	WAIT_POS is 238 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
accurary	double	Yes	Accuracy; [0.0001,0.1] degrees/seconds
waitType	int	No	Wait type; 0: position, 1: velocity
maxTime	int	Yes	Maximum wait time; [20,20000]
minTime	int	Yes	Minimum wait time; [20,20000]

Example:

json

{
    "logout": false,
    "type": 238,
    "userParamInt": 0,
    "userParamString": "",
    "accurary": 0.10,
    "maxTime": 200,
    "minTime": 20,
    "waitType": 0
}

Collision Detection (DETECTCOLLISION_SET / DETECTCOLLISION_RESET)

Description: Collision detection set: calls temporary parameters for timely adjustment of collision detection thresholds. The collision detection set instruction only uses temporary parameters, effective only for motion instructions below the collision detection set instruction. When no collision detection set instruction is inserted, the collision detection threshold (instruction) parameter from the human-robot collaboration - force function interface is used. Collision detection parameter reset: resets the temporarily used collision detection threshold. After executing this instruction, the collision detection threshold (instruction) parameter from the human-robot collaboration - force function interface is called.

Collision Detection Set (DETECTCOLLISION_SET)

Instruction Name: DETECTCOLLISION_SET

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	DETECTCOLLISION_SET is 243 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
axis_1_	double	No	Axis 1; [1,10000]
axis_2_	double	No	Axis 2; [1,10000]
axis_3_	double	No	Axis 3; [1,10000]
axis_4_	double	No	Axis 4; [1,10000]
axis_5_	double	No	Axis 5; [1,10000]
axis_6_	double	No	Axis 6; [1,10000]
axis_7_	double	No	Axis 7; [1,10000]
collision_detection_enable_	int	No	Collision detection enable; 1: enable, 0: disable
temp_parameters_enable_	int	No	Use temporary parameters; 1: use, 0: do not use

Example:

json

{
    "logout": false,
    "type": 243,
    "userParamInt": 0,
    "userParamString": "",
    "axis_1_": 10.0,
    "axis_2_": 20.0,
    "axis_3_": 30.0,
    "axis_4_": 40.0,
    "axis_5_": 50.0,
    "axis_6_": 60.0,
    "axis_7_": 0.0,
    "collision_detection_enable_": 1,
    "temp_parameters_enable_": 1
}

Collision Detection Reset (DETECTCOLLISION_RESET)

Instruction Name: DETECTCOLLISION_RESET

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	DETECTCOLLISION_RESET is 244 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 244,
    "userParamInt": 0,
    "userParamString": ""
}

Switch Conditional Branch (Switch / Case / Default / EndSwitch)

Description: When the parameter value of SWITCH matches a certain CASE value, it will jump to the corresponding CASE statement block to execute the corresponding instructions. After executing the statement block, it will exit SWITCH; if the SWITCH parameter value does not match any CASE, the DEFAULT statement is executed.

Switch (Switch)

Instruction Name: Switch

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	Switch is 247 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
variable_switch_	object	Yes	Variable; int type

Example:

json

{
    "logout": false,
    "type": 247,
    "userParamInt": 0,
    "userParamString": "",
    "variable_switch_": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 1,
        "varname": "I001"
    }
}

Case (Case)

Instruction Name: Case

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	Case is 248 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning
switch_case	int	Yes	Case value

Example:

json

{
    "logout": false,
    "type": 248,
    "userParamInt": 0,
    "userParamString": "",
    "switch_case": 22
}

Default (Default)

Instruction Name: Default

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	Default is 249 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 249,
    "userParamInt": 0,
    "userParamString": ""
}

EndSwitch (EndSwitch)

Instruction Name: EndSwitch

Parameter	Type	Required	Description
logout	bool	No	Whether commented out; true: this instruction will not be executed in the job file; false: not commented, executable
type	int	Yes	EndSwitch is 250 in the enumeration sequence
userParamInt	int	No	Customer custom in secondary development, currently no meaning
userParamString	string	No	Customer custom in secondary development, currently no meaning

Example:

json

{
    "logout": false,
    "type": 250,
    "userParamInt": 0,
    "userParamString": ""
}

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 - Conditional Control ​

Call Subroutine (CALL) ​

Return (RETURN) ​

Call Lua File (CALL_LUAFILE) ​

If (IF) ​

End If (END IF) ​

Else If (ELSE IF) ​

Else (ELSE) ​

Wait (WAIT) ​

WHILE Loop (WHILE) ​

End Loop (ENDWHILE) ​

LABEL (LABEL) ​

JUMP (JUMP) ​

UNTIL (UNTIL) ​

End Until (ENDUNTIL) ​

Craft Line (CRAFTLINE) ​

Instruction Note (CMDNOTE) ​

Reachability Check (POS_REACHABLE) ​

Timer (CLKSTART / CLKSTOP / CLKRESET) ​

Timer Start (CLKSTART) ​

Timer Stop (CLKSTOP) ​

Timer Reset (CLKRESET) ​

Read Linear Velocity (READLINEAR / STOPREADLINEAR) ​

Read Linear Velocity (READLINEAR) ​

Stop Read Linear Velocity (STOPREADLINEAR) ​

Call Lua Statement (CALL_LUASTRING) ​

Parameter Declaration (PARAM_DECLARATION) ​

Wait for Position Reached (WAIT_POS) ​

Collision Detection (DETECTCOLLISION_SET / DETECTCOLLISION_RESET) ​

Collision Detection Set (DETECTCOLLISION_SET) ​

Collision Detection Reset (DETECTCOLLISION_RESET) ​

Switch Conditional Branch (Switch / Case / Default / EndSwitch) ​

Switch (Switch) ​

Case (Case) ​

Default (Default) ​

EndSwitch (EndSwitch) ​

Instructions - Conditional Control

Call Subroutine (CALL)

Return (RETURN)

Call Lua File (CALL_LUAFILE)

If (IF)

End If (END IF)

Else If (ELSE IF)

Else (ELSE)

Wait (WAIT)

WHILE Loop (WHILE)

End Loop (ENDWHILE)

LABEL (LABEL)

JUMP (JUMP)

UNTIL (UNTIL)

End Until (ENDUNTIL)

Craft Line (CRAFTLINE)

Instruction Note (CMDNOTE)

Reachability Check (POS_REACHABLE)

Timer (CLKSTART / CLKSTOP / CLKRESET)

Timer Start (CLKSTART)

Timer Stop (CLKSTOP)

Timer Reset (CLKRESET)

Read Linear Velocity (READLINEAR / STOPREADLINEAR)

Read Linear Velocity (READLINEAR)

Stop Read Linear Velocity (STOPREADLINEAR)

Call Lua Statement (CALL_LUASTRING)

Parameter Declaration (PARAM_DECLARATION)

Wait for Position Reached (WAIT_POS)

Collision Detection (DETECTCOLLISION_SET / DETECTCOLLISION_RESET)

Collision Detection Set (DETECTCOLLISION_SET)

Collision Detection Reset (DETECTCOLLISION_RESET)

Switch Conditional Branch (Switch / Case / Default / EndSwitch)

Switch (Switch)

Case (Case)

Default (Default)

EndSwitch (EndSwitch)