Instructions - Position Variable

---

User Coordinate Modify (USERFRAME_SET)

Description: Modifies or reads the value of a specific axis in the user coordinate system

Instruction Name: USERFRAME_SET | ID: 888

Parameter List

Parameter	Type	Value Range	Description
coord	string	UX, UY, UZ, UA, UB, UC, UCUSTOM(UX, UY, UZ)	User coordinate parameter. UX, UY, UZ, UA, UB, UC: read the value of a specific axis of the user coordinate system; UCUSTOM(UX, UY, UZ): custom, the selected user coordinate in parentheses
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
m_varName	string	int or double type variable, global or local	Variable. When writing, manual int type can be entered; value range [-2000,2000]. When writing: directly enter the value to modify the coordinate axis value, or use variable assignment to modify the coordinate axis value. When reading: use variable to read the value of the selected coordinate axis
mode	int	[0,1]	Modify mode. 0: read the value of a specific axis of user coordinate, 1: modify the value of a specific axis of user coordinate
type	int	97	User coordinate modify is 97 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning
varType	int	[0,4]	Variable value type. 0: manual value, 1: INT, 2: DOUBLE, 3: GINT, 4: GDOUBLE

JSON Example

{
  "ID": 888,
  "coord": "UCUSTOM(UX,UY,UZ)",
  "logout": false,
  "m_varName": "I001",
  "mode": 1,
  "type": 97,
  "userParamInt": 0,
  "userParamString": "",
  "varType": 1
}

---

Tool Coordinate Modify (TOOLFRAME_SET)

Description: Modifies or reads the parameters of a specific axis of the tool

Instruction Name: TOOLFRAME_SET | ID: 55

Parameter List

Parameter	Type	Value Range	Description
coord	string	TX, TY, TZ, TA, TB, TC, TCUSTOM(TZ, TA)	Tool coordinate parameter. TX, TY, TZ, TA, TB, TC: read the value of a specific axis of the tool coordinate system; TCUSTOM(TZ, TA): custom, the selected tool coordinate in parentheses
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
m_newValue	string	-	(Not described in the documentation)
m_varName	string	int or double type variable, global or local	Variable. When writing, manual int type can be entered; value range [-2000,2000]
mode	int	[0,1]	Modify mode. 0: read the value of a specific axis of tool coordinate, 1: modify the value of a specific axis of tool coordinate
type	int	98	Tool coordinate modify is 98 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning
varType	int	[0,4]	Variable value type. 0: manual value, 1: INT, 2: DOUBLE, 3: GINT, 4: GDOUBLE

JSON Example

{
  "ID": 55,
  "coord": "TCUSTOM(TZ,TA)",
  "logout": false,
  "m_newValue": "",
  "m_varName": "I001",
  "mode": 1,
  "type": 98,
  "userParamInt": 0,
  "userParamString": "",
  "varType": 1
}

---

Read Position (READPOS)

Description: Reads the value of a specific axis of a position variable into a floating-point variable

Instruction Name: READPOS | type: 92

Parameter List

Parameter	Type	Value Range	Description
axis	int	[1,13]	Position variable axis. Values 1~7: axes 1~7, values 8~13: external axes O1~O6; only available axes can be selected based on current configuration
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidname	string	P,GP,E,GE variable name	Position variable name. When the string is empty, it means reading the robot's current position coordinates. P,GP,E,GE: stores the point into a variable, when reading, just select the target variable to read
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
type	int	92	Read position is 92 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning
varname	string	int type variable name	Target variable name

JSON Example

{
  "axis": 1,
  "coord": "RF",
  "logout": false,
  "posidname": "GE$GI001",
  "posidtype": 1,
  "type": 92,
  "userParamInt": 0,
  "userParamString": "",
  "varname": "D001"
}

---

Position Add (POSADD)

Description: Adds a value to a specific variable axis of a position variable under different coordinate systems

Note:

• When modifying target points, pay attention to over-limit issues and target position unreachable, coordinate conversion failure issues
• Joint over-limit: For example, if the positive limit of robot axis 1 is 180°, and the coordinate of axis 1 at the target point is 150°, setting the parameter to assign 50° to variable axis 1 will cause a joint over-limit issue when running the instruction
• Coordinate conversion failure: For example, if the target point is a joint point, and the selected variable coordinate system in the parameter settings is Cartesian coordinate system, assigning a value to the position variable axis of the target point and executing the position add instruction may cause a coordinate conversion failure during the calculation process

Instruction Name: POSADD | type: 93

Parameter List

Parameter	Type	Value Range	Description
axis	int	[1,13]	Position variable axis. Values 1~7: axes 1~7, values 8~13: external axes O1~O6; only available axes can be selected based on current configuration
caltype	int	[0,2]	Operation type. 0: ADDTYPE position add; 1: SUBTYPE position subtract; 2: SETTYPE position set
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
datatype	int	[0,4]	Variable value type. 0: manual value, 1: INT, 2: DOUBLE, 3: GINT, 4: GDOUBLE
desData	string	Manual value or int/double type variable, global or local	Position variable. Value range [-50000, 50000]
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
positionId	string	P or GP or E or GE	Position variable to be modified
type	int	93	Position add is 93 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "axis": 5,
  "caltype": 0,
  "coord": "RF",
  "datatype": 1,
  "desData": "GI001",
  "logout": false,
  "posidtype": 0,
  "positionId": "GP0001",
  "type": 93,
  "userParamInt": 0,
  "userParamString": ""
}

---

Position Subtract (POSSUB)

Description: Subtracts a value from a specific variable axis of a position variable under different coordinate systems

Note:

• When modifying target points, pay attention to over-limit issues and target position unreachable, coordinate conversion failure issues
• Joint over-limit: For example, if the negative limit of robot axis 2 is -50°, and the coordinate of axis 2 at the target point is 30°, setting the parameter to assign 100° to variable axis 2 will cause a joint over-limit issue when running the instruction
• Coordinate conversion failure: For example, if the target point is a joint point, and the selected variable coordinate system in the parameter settings is Cartesian coordinate system, assigning a value to the position variable axis of the target point and executing the position subtract instruction may cause a coordinate conversion failure during the calculation process

Instruction Name: POSSUB | type: 93

Parameter List

Parameter	Type	Value Range	Description
axis	int	[1,13]	Position variable axis. Values 1~7: axes 1~7, values 8~13: external axes O1~O6; only available axes can be selected based on current configuration
caltype	int	[0,2]	Operation type. 0: ADDTYPE position add; 1: SUBTYPE position subtract; 2: SETTYPE position set
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
datatype	int	[0,4]	Variable value type. 0: manual value, 1: INT, 2: DOUBLE, 3: GINT, 4: GDOUBLE
desData	string	Manual value or int/double type variable, global or local	Position variable. Value range [-50000, 50000]
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
positionId	string	P or GP or E or GE	Position variable to be modified
type	int	93	Position subtract is 93 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "axis": 3,
  "caltype": 1,
  "coord": "RF",
  "datatype": 0,
  "desData": "666",
  "logout": false,
  "posidtype": 0,
  "positionId": "GP0001",
  "type": 93,
  "userParamInt": 0,
  "userParamString": ""
}

---

Position Set (POSSET)

Description: Directly modifies the point coordinate value of a specific variable axis of a position variable under different coordinate systems

Note:

• When modifying target points, pay attention to over-limit issues and target position unreachable, coordinate conversion failure issues
• Joint over-limit: For example, if the positive limit of robot axis 3 is 100°, and setting the parameter to assign 120° to variable axis 2 will cause a joint over-limit issue when running the instruction
• Coordinate conversion failure: For example, if the target point is a joint point, and the selected variable coordinate system in the parameter settings is Cartesian coordinate system, assigning a value to the position variable axis of the target point and executing the position set instruction may cause a coordinate conversion failure during the calculation process

Instruction Name: POSSET | type: 93

Parameter List

Parameter	Type	Value Range	Description
axis	int	[1,13]	Position variable axis. Values 1~7: axes 1~7, values 8~13: external axes O1~O6; only available axes can be selected based on current configuration
caltype	int	[0,2]	Operation type. 0: ADDTYPE position add; 1: SUBTYPE position subtract; 2: SETTYPE position set
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
datatype	int	[0,4]	Variable value type. 0: manual value, 1: INT, 2: DOUBLE, 3: GINT, 4: GDOUBLE
desData	string	Manual value or int/double type variable, global or local	Position variable. Value range [-50000, 50000]
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
positionId	string	P or GP or E or GE	Position variable to be modified
type	int	93	Position set is 93 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "axis": 6,
  "caltype": 2,
  "coord": "RF",
  "datatype": 0,
  "desData": "666",
  "logout": false,
  "posidtype": 0,
  "positionId": "GP0001",
  "type": 93,
  "userParamInt": 0,
  "userParamString": ""
}

---

Copy Position (COPYPOS)

Description: Copies point data from one position variable to another position variable

Note: Supports up to 5 connected external axes. When copying external axis points, only O1, O2, O3, O4, O5 axes are supported. If O6, O7 axes are selected in the parameter settings, O6, O7 axes will not take effect when executing the copy position instruction

Instruction Name: COPYPOS | type: 118

Parameter List

Parameter	Type	Value Range	Description
cpaxles	int[]	Array, each element represents the corresponding axis number	Select the coordinate axis data to copy
cpaxletype	int	[0,1]	Indicates whether all coordinate axis data is copied. 0: all coordinate axis data is copied, "cpaxles" node does not exist; 1: depends on what is selected in the "cpaxles" node
cpdposname	string	P or E, local or global	Target position variable name
cpdpostype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
cpposname	string	P,GP,E,GE variable name	Source position variable name. When the string is empty, it means reading the robot's current position coordinates
cppostype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
type	int	118	Copy position is 118 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "cpaxles": [2, 4, 6],
  "cpaxletype": 1,
  "cpdposname": "GE$GI001",
  "cpdpostype": 1,
  "cpposname": "P$GI001",
  "cppostype": 1,
  "logout": false,
  "type": 118,
  "userParamInt": 0,
  "userParamString": ""
}

---

Position Add All (POSADDALL)

Description: Adds values to several variable axes of a position variable under different coordinate systems

Note: When modifying target points, pay attention to over-limit issues and target position unreachable, coordinate conversion failure issues

Instruction Name: POSADDALL | type: 140

Parameter List

Parameter	Type	Value Range	Description
calData	string[]	14 elements, each element is the increment value for each axis	Axis increment values. Can be manual or int or double variable type, global or local
caltype	int	[0,2]	Position all-operation type. 0: position add all, 1: position subtract all, 2: position set all
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
datatype	int[]	14 elements, corresponds to the "calData" node	Whether axis value changes. 1: this axis has changes; 2: this axis has no changes
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidname	string	P,GP,E,GE	Position variable name. Position variable to be modified
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
type	int	140	Position add all is 140 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "calData": ["I002", "I034", "I056", "I069", "GI012", "GI023", "[-]", "GI047", "[-]", "[-]", "[-]", "[-]", "[-]", "[-]"],
  "caltype": 0,
  "coord": "UF",
  "datatype": [1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 2, 2],
  "logout": false,
  "posidname": "GE$GI001",
  "posidtype": 1,
  "type": 140,
  "userParamInt": 0,
  "userParamString": ""
}

---

Position Subtract All (POSSUBALL)

Description: Subtracts values from several variable axes of a position variable under different coordinate systems

Note: When modifying target points, pay attention to over-limit issues and target position unreachable, coordinate conversion failure issues

Instruction Name: POSSUBALL | type: 140

Parameter List

Parameter	Type	Value Range	Description
calData	string[]	14 elements, each element is the increment value for each axis	Axis increment values (negative values for subtraction). Can be manual or int or double variable type, global or local
caltype	int	[0,2]	Position all-operation type. 0: position add all, 1: position subtract all, 2: position set all
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
datatype	int[]	14 elements, corresponds to the "calData" node	Whether axis value changes. 1: this axis has changes; 2: this axis has no changes
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidname	string	P,GP,E,GE	Position variable name. Position variable to be modified
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
type	int	140	Position subtract all is 140 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "calData": ["I002", "I034", "I056", "I069", "GI012", "GI023", "[-]", "GI047", "[-]", "[-]", "[-]", "[-]", "[-]", "[-]"],
  "caltype": 1,
  "coord": "UF",
  "datatype": [1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 2, 2],
  "logout": false,
  "posidname": "GE$GI001",
  "posidtype": 1,
  "type": 140,
  "userParamInt": 0,
  "userParamString": ""
}

---

Position Set All (POSSETALL)

Description: Directly modifies several variable axes of a position variable to specified values under different coordinate systems

Note: When modifying target points, pay attention to over-limit issues and target position unreachable, coordinate conversion failure issues

Instruction Name: POSSETALL | type: 140

Parameter List

Parameter	Type	Value Range	Description
calData	string[]	14 elements, each element is the target value for each axis	Axis target values. Can be manual or int or double variable type, global or local
caltype	int	[0,2]	Position all-operation type. 0: position add all, 1: position subtract all, 2: position set all
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
datatype	int[]	14 elements, corresponds to the "calData" node	Whether axis value changes. 1: this axis has changes; 2: this axis has no changes
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidname	string	P,GP,E,GE	Position variable name. Position variable to be modified
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
type	int	140	Position set all is 140 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "calData": ["I002", "I034", "I056", "I069", "GI012", "GI023", "[-]", "GI047", "[-]", "[-]", "[-]", "[-]", "[-]", "[-]"],
  "caltype": 2,
  "coord": "UF",
  "datatype": [1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 2, 2],
  "logout": false,
  "posidname": "GE$GI001",
  "posidtype": 1,
  "type": 140,
  "userParamInt": 0,
  "userParamString": ""
}

---

Trajectory Offset (TOFFSETON / TOFFSETOFF)

Trajectory Offset Start

Description:

• This instruction can perform real-time offset of the robot's motion trajectory
• The motion trajectory after the trajectory offset end instruction is no longer offset
• The first instruction of the program cannot use the offset instruction

Instruction Name: TOFFSETON | type: 141

Parameter List

Parameter	Type	Value Range	Description
calData	string[]	7 elements, value range [-50000, 50000]	Axis increment values. Each element is the increment value for each axis; can be manual or int or double variable type, global or local
coord	string	RF, BF, TF, UF	Position variable coordinate system. RF: joint coordinate, BF: Cartesian coordinate, TF: tool coordinate, UF: user coordinate
datatype	int[]	7 elements, corresponds to the "calData" node	Whether axis value changes. 1: this axis has changes; 2: this axis has no changes
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
tool	int	[-1,999]	Tool. -1: not used; 0: current; 1-999: corresponding tool
type	int	141	Trajectory offset start is 141 in the enumeration sequence type
user	int	[-1,999]	User. -1: not used; 0: current; 1-999: corresponding user
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "calData": ["I001", "I002", "I003", "I004", "I005", "I006", "I007"],
  "coord": "TF",
  "datatype": [1, 1, 1, 1, 1, 1, 1],
  "logout": false,
  "tool": 666,
  "type": 141,
  "user": -1,
  "userParamInt": 0,
  "userParamString": ""
}

---

Trajectory Offset End

Instruction Name: TOFFSETOFF | type: 142

Parameter List

Parameter	Type	Value Range	Description
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
type	int	142	Trajectory offset end is 142 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "logout": false,
  "type": 142,
  "userParamInt": 0,
  "userParamString": ""
}

---

Read Position Information (READPOSMSG)

Description: Reads the tool number, user coordinate number, coordinate system, posture angle/radian, and configuration information of the target position into an integer variable

Instruction Name: READPOSMSG | type: 175

Parameter List

Parameter	Type	Value Range	Description
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
message	int	[0,4]	Information read value. 0: tool number; 1: user coordinate number; 2: coordinate system; 3: posture angle/radian; 4: configuration
positionId	string	-	Position variable ID
type	int	175	Read position information is 175 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning
varName	string	int type variable name	Target variable name
varType	int	-	Variable type

message Parameter Detailed Description

Value	Description
0	Tool number: reads the tool number of the target variable
1	User coordinate number: reads the user coordinate number of the target variable
2	Coordinate system ["0" joint coordinate, "1" Cartesian coordinate, "2" tool coordinate, "3" user coordinate]
3	Posture angle/radian: reads the posture value of the posture axis of the target position
4	Configuration: reads the configuration value of the target point

JSON Example

{
  "logout": false,
  "message": 4,
  "positionId": "GP0001",
  "type": 175,
  "userParamInt": 0,
  "userParamString": "",
  "varName": "I001",
  "varType": 0
}

---

Position Stretch (POS_STRETCH)

Description: Stretches or shortens the trajectory length and arc trajectory shape by setting the offset of the start and end points

Instruction Name: POS_STRETCH | type: 177

Parameter List

Parameter	Type	Value Range	Description
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
position1Id	string	P, GP	Start point of the stretch trajectory
position1OutId	string	P, GP	Output start point position, the offset start point position
position2Id	string	P, GP	Middle point of the arc trajectory
position2OutId	string	P, GP	Stores the offset end point into the selected position variable
position3Id	string	P, GP	End point of the stretch trajectory
stretchL1	double	[-10000,10000]	Sets the offset to change the start point of the trajectory
stretchL2	double	[-10000,10000]	Sets the offset to change the end point of the trajectory
stretchType	int	[0,1]	Stretch type. 0: linear; 1: curve
type	int	177	Position stretch is 177 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

JSON Example

{
  "logout": false,
  "position1Id": "GP0001",
  "position1OutId": "GP0006",
  "position2Id": "GP0002",
  "position2OutId": "GP0007",
  "position3Id": "GP0003",
  "stretchL1": 4.0,
  "stretchL2": 5.0,
  "stretchType": 1,
  "type": 177,
  "userParamInt": 0,
  "userParamString": ""
}

---

Set Position Information (SETPOSMSG)

Description: Stretches or shortens the trajectory length and arc trajectory shape by setting the offset of the start and end points

Instruction Name: SETPOSMSG | type: 207

Parameter List

Parameter	Type	Value Range	Description
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posData	string[]	5 elements	Position data array. Element 1: coordinate system (0-3); Element 2: posture (0-angle/1-radian); Element 3: configuration parameter (0-8); Element 4: tool number (0-999); Element 5: user number (0-999)
posDataType	int[]	5 elements	Indicates whether each element of the "posData" node is used. 1: used; 2: not used
posidname	string	P, GP, E, GE	Position variable
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
type	int	207	Set position information is 207 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning

posData Array Element Description

Index	Content	Value Range	Description
0	Coordinate system	[0,3]	"0" joint coordinate, "1" Cartesian coordinate, "2" tool coordinate, "3" user coordinate
1	Posture	[0,1]	0: angle; 1: radian
2	Configuration parameter	[0,8]	Set the configuration parameter of the target position
3	Tool number	[0,999]	Set the tool number of the target position. "0" means no tool
4	User number	[0,999]	Set the user number of the target position. "0" means no user

JSON Example

{
  "logout": false,
  "posData": ["GI002", "GI003", "I004", "GI005", "GI006"],
  "posDataType": [1, 1, 1, 1, 1],
  "posidname": "GP$GI001",
  "posidtype": 1,
  "type": 207,
  "userParamInt": 0,
  "userParamString": ""
}

---

Calculate Target Configuration (SOLVE_CONFIGURATION)

Description: When the robot moves from point A (current actual position) to point B, it can calculate how many configurations the robot can use to go from A to B

Instruction Name: SOLVE_CONFIGURATION | type: 232

Parameter List

Parameter	Type	Value Range	Description
logout	bool	true/false	Whether commented out. true: this instruction will not be executed in the job file; false: not commented, executable
posidtype	int	[0,1]	Position variable name identifier. 0: fixed position variable name, e.g.: P001, G001; 1: non-fixed position variable name, e.g.: P$I001, P$GI001, G$I001, G$GI001
positionId	string	P, GP, E, GE	Target point. Selectable position variable type
type	int	232	Calculate target configuration is 232 in the enumeration sequence type
userParamInt	int	-	Customer custom in secondary development, currently no meaning
userParamString	string	-	Customer custom in secondary development, currently no meaning
varName	object	INT or GINT variable	First configuration value variable. Stores the calculated configuration values into the selected target variable, saved sequentially starting from the selected first variable
varNumber	object	INT or GINT variable	Configuration value count. Stores the calculated number of configuration values into the selected target variable

JSON Example

{
  "logout": false,
  "posidtype": 0,
  "positionId": "GP0001",
  "type": 232,
  "userParamInt": 0,
  "userParamString": "",
  "varName": {"data": 0.0, "secondvalue": 0, "value": 1, "varname": "I002"},
  "varNumber": {"data": 0.0, "secondvalue": 0, "value": 1, "varname": "I001"}
}