Program Status

Program Line Number

Sent to the upper computer when the controller starts executing an instruction:

Command Word: 0x5400

Field	Type	Description
robot	int	Select robot, value range [1, 4]
jobname	string	Job file name
num	int	Number of executed instructions

{
  "robot": 1,
  "jobname": "Q1",
  "num": 3
}

CRAFTLINE Instruction Jump

Sent to the teach pendant when the controller executes a CRAFTLINE instruction:

Command Word: 0x5401

Field	Type	Description
robot	int	Select robot, value range [1, 4]
num	int	Number of executed instructions

{
  "robot": 1,
  "num": 2
}

Query Current Line Number

When the teach pendant establishes a network connection with the controller, the upper computer queries which line is currently running:

Command Word: 0x5402

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

{
  "robot": 1
}

Controller Reply

Command Word: 0x5403

Field	Type	Description
robot	int	Select robot, value range [1, 4]
jobname	string	Job file name
num	int	Line number

{
  "robot": 1,
  "jobname": "Q1",
  "num": 3
}

Program Run Status

Program status includes: pause, running, stopped.

Query Program Run Status

Command Word: 0x5410

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

{
  "robot": 1
}

Controller Reply

Command Word: 0x5411

Field	Type	Description
robot	int	Select robot, value range [1, 4]
status	int	Program run status: 0 stopped, 1 paused, 2 running

{
  "robot": 1,
  "status": 0
}

Query Robot Run Status

Command Word: 0x5412

Field	Type	Description
robot	int	Select robot, value range [1, 4]
jobfilename	string	Job file name

{
  "robot": 1,
  "jobfilename": ""
}

Controller Reply

Command Word: 0x5413

Field	Type	Description
robot	int	Select robot, value range [1, 4]
status	int	Run status: 0 stopped, 1 paused, 2 running
continueRun	int	Whether to run from current line: 0 run from beginning, 1 run from current line
currentRun	bool	Whether currently running
mainProgramRun	int	Whether main program is running

{
  "robot": 1,
  "status": 0,
  "continueRun": 0,
  "currentRun": false,
  "mainProgramRun": 0
}

Set Current Line

Command Word: 0x5414

Field	Type	Description
robot	int	Select robot, value range [1, 4]
jobfilename	string	Job file name
num	int	Line number

{
  "robot": 1,
  "jobfilename": "",
  "num": 1
}

Query Current Line

Command Word: 0x5415

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

{
  "robot": 1
}

Controller Reply

Command Word: 0x5416

Field	Type	Description
robot	int	Select robot, value range [1, 4]
jobfilename	string	Job file name
num	int	Line number

{
  "robot": 1,
  "jobfilename": "",
  "num": 1
}

Clear Run Status

Sent by the upper computer to reset program run status after successfully importing a program:

Command Word: 0x5417

• No data to send

Controller Reply

Command Word: 0x5418

• No reply data needed

Query Remaining Instructions in Motion Queue

Command Word: 0x5419

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

{
  "robot": 1
}

Controller Reply

Command Word: 0x541A

Field	Type	Description
sum	int	Number of line numbers in the motion queue

{
  "sum": 4
}

Query Remaining Instructions in Motion Queue

Command Word: 0x541a

Controller Reply

Field	Type	Description
sum	int	Line number of the motion queue

{
  "sum": 4
}