Instructions - Program Control

Start Thread

Description: Starts a global background or local background task

Instruction Name: PTHREAD_START

type Value: 90

Parameter	Type	Description
jobName	string	Background task program file name
localOrGlobal	int	Background type: 0-local background, 1-global background
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)

Request Example:

{
    "jobName": "SFDFF",
    "localOrGlobal": 0,
    "logout": false,
    "type": 90,
    "userParamInt": 0,
    "userParamString": ""
}

---

Exit Thread

Description: Closes an already started background task

Instruction Name: PTHREAD_END

type Value: 91

Parameter	Type	Description
jobName	string	Background task program file name
localOrGlobal	int	Background type: 0-local background, 1-global background
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)

Request Example:

{
    "jobName": "SFDFF",
    "localOrGlobal": 0,
    "logout": false,
    "type": 91,
    "userParamInt": 0,
    "userParamString": ""
}

---

Pause Run

Description: Pauses the main program and local background program execution

Instruction Name: PAUSERUN

type Value: 111

Parameter	Type	Description
jobName	string	Program name selected when local background type is chosen
programtype	int	Background type: 0-local background, 1-global background
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)

Request Example:

{
    "jobName": "SFDFF",
    "programtype": 2,
    "logout": false,
    "type": 111,
    "userParamInt": 0,
    "userParamString": ""
}

---

Continue Run

Description: Continues running the paused main program or local background program

Instruction Name: CONTINUERUN

type Value: 112

Parameter	Type	Description
jobName	string	Program name selected when local background type is chosen
programtype	int	Background type: 0-local background, 1-global background
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)

Request Example:

{
    "jobName": "SFDFF",
    "programtype": 2,
    "logout": false,
    "type": 112,
    "userParamInt": 0,
    "userParamString": ""
}

---

Stop Run

Description: Stops the running program. When the program reaches the stop run instruction, the servo powers down

Instruction Name: STOPRUN

type Value: 113

Parameter	Type	Description
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)

Request Example:

{
    "logout": false,
    "type": 113,
    "userParamInt": 0,
    "userParamString": ""
}

---

Restart Run

Description: Stops the running program. When the program reaches the stop run instruction, the servo powers down

Instruction Name: RESTRATRUN

type Value: 117

Parameter	Type	Description
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)

Request Example:

{
    "logout": false,
    "type": 117,
    "userParamInt": 0,
    "userParamString": ""
}

---

Window Instruction

Description: When running the instruction, a popup window with the filled prompt content appears. The number of buttons equals the number of options. Clicking a button stores the variable value into the bound variable

Instruction Name: WINDOW

type Value: 208

Parameter	Type	Description
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)
count	int	Number of options, value range [0,3]
text1	string	Prompt content
text2	string	Option 1 content
text3	string	Option 2 content
text4	string	Option 3 content
value1	int	Option 1 corresponding variable value
value2	int	Option 2 corresponding variable value
value3	int	Option 3 corresponding variable value
variable	object	Bound variable, structure:

variable Structure:

Field	Type	Description
data	float	Data value
secondvalue	int	Secondary value
value	int	Variable value
varname	string	Variable name

Request Example:

{
    "logout": false,
    "type": 208,
    "userParamInt": 0,
    "userParamString": "",
    "count": 3,
    "text1": "AAAAA",
    "text2": "1",
    "text3": "2",
    "text4": "3",
    "value1": 1111,
    "value2": 2222,
    "value3": 3333,
    "variable": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 1,
        "varname": "I001"
    }
}

---

Thread State

Description: Views the state of the currently executing thread program. Stopped equals 1, paused equals 2, running equals 3

Instruction Name: PTHREAD_STATE

type Value: 209

Parameter	Type	Description
logout	bool	Whether commented out: true-this instruction will not be executed in the job file, false-not commented, executable
userParamInt	int	Customer custom parameter in secondary development (currently no meaning)
userParamString	string	Customer custom parameter in secondary development (currently no meaning)
jobName	string	Program name selected when background type is chosen
localOrGlobal	int	Program type: 0-local background, 1-global background, 2-main program
m_VariableValue	object	Storage variable, structure:

m_VariableValue Structure:

Field	Type	Description
data	float	Data value
secondvalue	int	Secondary value
value	int	Variable value
varname	string	Variable name

Request Example:

{
    "logout": false,
    "type": 209,
    "userParamInt": 0,
    "userParamString": "",
    "jobName": "SFDFF",
    "localOrGlobal": 0,
    "m_VariableValue": {
        "data": 0.0,
        "secondvalue": 0,
        "value": 1,
        "varname": "I001"
    }
}