Program Run Control

Reset Program Run Count

Command Word: 0x5600

Field	Type	Description
robot	int	Select robot, value range [1, 4]

{
  "robot": 1
}

Run Program

Operate on the program.

Send Start Program

Command Word: 0x5601

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]
jobname	string	Program name
suffixname	string	Program name suffix, values: .JBR main program, .JBP background local program, .JBPG background global program
stepRunSum	int	Total number of steps (optional)
callerName	string	Caller name (optional)
stepRun	bool	Whether to run in single step (optional)
index	int	Index (optional)
noFileRun	bool	Run without file (optional)
notJudgeSafePos	bool	Do not check safe position (optional)
line	int	Line number to start running
globalStart	bool	Whether in multi-robot mode
continueRun	int	Whether to continue running: 0 do not continue, 1 continue
startOver	int	Whether to restart from beginning: 0 continue, 1 restart from beginning

{
  "robot": 1,
  "jobname": "TTT",
  "suffixname": ".JBR",
  "stepRunSum": 2,
  "callerName": "tttt",
  "stepRun": false,
  "index": 0,
  "noFileRun": false,
  "notJudgeSafePos": false,
  "line": 1,
  "globalStart": false,
  "continueRun": 0,
  "startOver": 0
}

Note: Optional fields have no effect if not used

Send Stop Program

Command Word: 0x5602

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]

{
  "robot": 1
}

Program Execution Status Setting

Sent when the upper computer needs to change the current controller program execution mode.

Command Word: 0x5603

Field	Type	Description
robot	int	Select robot, value range [1, 4]
type	int	Program execution status: 0 single step run, 1 pause, 2 stop without powering off, 5 stop without powering off (preferred for stopping)

{
  "robot": 1,
  "type": 5
}

Note: For single step, there is no "all robots" option. For pause and stop, "all robots" is only available in multi-robot mode; set "robot" to 0 in this case.

Use Run Without File Switch

Command Word: 0x5604

Field	Type	Description
robot	int	Select robot, value range [1, 4]

{
  "robot": 1
}

Forward/Reverse Motion

Set Reverse Run

Command Word: 0x5610

Field	Type	Description
switch	bool	Whether to run in reverse order

{
  "switch": false
}

Query Forward/Reverse

Command Word: 0x5611

• No data to send

Controller Reply

Command Word: 0x5612

Field	Type	Description
switch	bool	Whether to run in reverse order

{
  "switch": false
}

Loop Count

Set Loop Count

Command Word: 0x5620

Field	Type	Description
robot	int	Select robot, value range [1, 4]
index	int	Total loop count, 0 means infinite loop

{
  "robot": 1,
  "index": 1
}

Query Loop Count

Command Word: 0x5621

Field	Type	Description
robot	int	Select robot, value range [1, 4]

{
  "robot": 1
}

Controller Reply

Command Word: 0x5622

Field	Type	Description
robot	int	Select robot, value range [1, 4]
index	int	Total loop count, 0 means infinite loop
count	int	Current run count

{
  "robot": 1,
  "count": 0,
  "index": 1
}

Global Thread

Global Thread Auto-Start Setting

Command Word: 0x5630

Field	Type	Description
robot	int	Select robot, value range [1, 4]
name	string	Global background program name

{
  "robot": 1,
  "name": "Q1"
}

Global Thread Auto-Start Query

Command Word: 0x5631

Field	Type	Description
robot	int	Select robot, value range [1, 4]

{
  "robot": 1
}

Global Thread Auto-Start Response

Command Word: 0x5632

Field	Type	Description
robot	int	Select robot, value range [1, 4]
name	string	Global background program name

{
  "robot": 1,
  "name": "Q1"
}

Global Thread Start Control

Command Word: 0x5633

Field	Type	Description
robot	int	Select robot, value range [1, 4]
type	int	Start control: 0 means stop, 1 means start

{
  "robot": 1,
  "type": 1
}

Global Thread Start Status Query

Command Word: 0x5634

Field	Type	Description
robot	int	Select robot, value range [1, 4]
runName	int	1 means get global background run status

{
  "robot": 1,
  "hasRun": true,
  "runName": 1
}

Controller Reply

Command Word	Type	Description
0x50c6	-	GLOBAL_PTHREAD_RUNSTATUS_RESPOND

Field	Type	Description
robot	int	Current robot number
hasRun	bool[]	Auto-start status array, true means started, false means stopped

{
  "robot": 1,
  "hasRun": [false, true]
}

Append Motion Mode

Append motion mode runs programs without using program files.

Usage:

1. Open append motion mode
2. Append motion mode insert instruction vector
3. Append motion mode settings

Open Append Motion Mode

Command Word: 0x5640

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]
open	bool	Whether to enable append motion mode, true to enable, false to disable

{
  "robot": 1,
  "open": true
}

Query Append Motion Mode

Command Word: 0x5641

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]

{
  "robot": 1
}

Controller Reply

Command Word: 0x5642

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]
open	bool	Whether append motion mode is enabled, true means enabled, false means disabled

{
  "robot": 1,
  "open": true
}

Append Motion Insert Instruction Vector

Command Word: 0x5643

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]
isContinue	bool	true: only receive and store pos; false: receive pos and make the robot execute all pos
data	array	Instruction JSON list, format is cmd->toJson()

{
  "data": [
    { "cmd": "toJson()" },
    { "cmd": "toJson()" },
    { "cmd": "toJson()" }
  ],
  "isContinue": false,
  "robot": 1
}

For instruction details, please refer to the Instructions page

Append Motion Mode Suspend (Pause)

Command Word: 0x5644

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]

{
  "robot": 1
}

Append Motion Mode Start

Command Word: 0x5645

Field	Type	Description
robot	int	Robot number to operate, value range [1, 4]

{
  "robot": 1
}

Append Motion Mode Stop

Command Word: 0x5646

Field	Type	Description
robot	int	Robot number to operate, value range [0, 3]

{
  "robot": 0
}

Auto-Start

Auto-start program; after setting, it will auto-start on boot.

Set Auto-Start Program

Command Word: 0x5647

Field	Type	Description
robot	int	Robot number to query, value range [1, 4]
enable	bool	Whether enabled, true means enabled, false means not used
count	int	Run count
speed	int	Run speed
jobname	string	Program name

{
  "robot": 1,
  "enable": false,
  "count": 1,
  "speed": 15,
  "jobname": "Q1"
}

Query Auto-Start Program

Command Word: 0x5648

Field	Type	Description
robot	int	Robot number to query, value range [1, 4]

{
  "robot": 1
}

Controller Reply

Command Word: 0x5649

Field	Type	Description
robot	int	Robot number to query, value range [1, 4]
enable	bool	Whether enabled
count	int	Run count
speed	int	Run speed
jobname	string	Program name

{
  "robot": 1,
  "enable": false,
  "count": 1,
  "speed": 15,
  "jobname": "Q1"
}

Content to be added for trial run and single step

Query Global Background Auto-Start Status

Command Word: 0x50c5

Field	Type	Description
robot	int	Current robot number
hasRun	bool	Auto-start status, true means started, false means stopped
runName	int	1: get global background run status

{
  "robot": 1,
  "hasRun": true,
  "runName": 1
}

Controller Reply

Command Word: 0x50c6

Field	Type	Description
robot	int	Current robot number
hasRun	bool	Auto-start status, true means started, false means stopped

{
  "robot": 1,
  "hasRun": false
}