Instruction Operations
1 External Axis
1.1 External Axis Position Query
Description: Position query during synchronized command insertion for robot + positioner
Command Word: 0x5300
Host Computer Sends:
json
{
"robot": 1,
"coord": 0
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
| coord | int | Yes | Controller current coordinate: 0-Joint coordinate, 1-Cartesian coordinate, 2-Tool coordinate, 3-User coordinate |
1.2 External Axis Position Receive
Description: Position receive during synchronized command insertion for robot + positioner
Command Word: 0x5301
Controller Returns:
json
{
"robot": 1,
"coord": 0,
"configuration": 1,
"position": [0, 0.1, 2, 3.3, 44, 555.55, 66.6],
"positionDeg": [0, 0.1, 2, 3.3, 44, 555.55, 66.6],
"externalPosition": [0, 0.1, 2, 3.3, 44]
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
| coord | int | Yes | Controller current coordinate: 0-Joint coordinate, 1-Cartesian coordinate, 2-Tool coordinate, 3-User coordinate |
| configuration | int | Yes | Posture or left/right hand |
| position | double[] | Yes | Current position (radians), 7 digits considering dual-robot scenario |
| positionDeg | double[] | Yes | Current position (degrees) |
| externalPosition | double[] | Yes | External axis current position, 5 digits |
2 History Command List
2.1 History Command List Query
Command Word: 0x5310
Host Computer Sends:
json
{
"robot": 1
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
2.2 Command List Query
Command Word: 0x5301
Host Computer Sends:
json
{
"robot": 1
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
2.3 History Command List Return
Command Word: 0x5311
Controller Returns:
json
{
"robot": 1,
"jobname": ["Request weight", "Request weight"],
"num": [2, 1],
"sendednum": 2,
"totalnum": 2
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Select robot, range [1, 4] |
| jobname | string[] | Yes | Program name array, max 50 per batch |
| num | int[] | Yes | History line number array, max 50 per batch, array order is reverse of program execution |
| sendednum | int | Yes | Number sent this time |
| totalnum | int | Yes | Total number sent |
3 Local Points
Description: Local points are data within different programs; local points of different programs are not related.
3.1 Insert Local Point
Command Word: 0x5320
Host Computer Sends:
json
{
"robot": 1,
"robotpos": {
"ctype": 1,
"key": "P0001",
"note": "",
"data": [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
],
"paraVarData": [
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0}
]
},
"time": "2024.11.06 10:10:34"
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Robot number, range [1, 4] |
| robotpos | object | Yes | Point information |
| time | string | Yes | Timestamp, format like: 2024.11.06 10:10:34 |
robotpos sub-object:
| Parameter | Type | Description |
|---|---|---|
| ctype | int | Type |
| key | string | Point identifier |
| note | string | Remark |
| data | double[] | Position data array |
| paraVarData | object[] | Parameter variable data |
3.2 Modify Local Point
Command Word: 0x5321
Host Computer Sends:
json
{
"robot": 1,
"robotpos": {
"ctype": 1,
"key": "P0001",
"note": "",
"data": [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
],
"paraVarData": [
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0},
{"varname": "", "value": 0, "secondvalue": 0, "data": 0.0}
]
},
"time": "2024.11.06 10:14:31"
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Robot number, range [1, 4] |
| robotpos | object | Yes | Point information |
| time | string | Yes | Timestamp, format like: 2024.11.06 10:14:31 |
3.3 Modify Numeric Local Variable
Command Word: 0x5322
Host Computer Sends:
json
{
"robot": 1,
"time": "2024.11.06 10:18:24",
"varName": "D007",
"varNote": "",
"varType": 1,
"varString": "RRR",
"varValue": 0.0
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot | int | Yes | Robot number, range [1, 4] |
| time | string | Yes | Timestamp |
| varName | string | Yes | Variable name, local numeric variable: I001, D001, B001, S001 |
| varNote | string | No | Comment |
| varType | int | Yes | Variable type: 0-int, 1-double, 2-bool, 3-string |
| varValue | double | Yes | Numeric value |
| varString | string | Yes | String value |
4 Syntax Check
4.1 Get Syntax Check Result
Command Word: 0x9121
Host Computer Sends:
json
{
"robot_id": 1,
"job_name": "QQQ",
"suffix": ".JBR"
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot_id | int | Yes | Robot number |
| job_name | string | Yes | Job name |
| suffix | string | Yes | Program suffix: .JBR main program, .JBP background local program, .JBPG background global program |
4.2 Syntax Check Result Return
Command Word: 0x9121
Controller Returns:
json
{
"robot_id": 1,
"job_name": "QQQ",
"suffix": ".JBR",
"result": "true",
"cur_error_command_num": 5
}| Parameter | Type | Required | Description |
|---|---|---|---|
| robot_id | int | Yes | Robot number |
| job_name | string | Yes | Job name |
| suffix | string | Yes | Program suffix |
| result | bool | Yes | Check result: true-success, false-failure |
| cur_error_command_num | int | No | Line number on failure |
5 Shortcut Commands
Description: Whether shortcut commands are used is indicated by a node in the operation parameters.
5.1 Set Shortcut Commands
Command Word: 0x50E0
Host Computer Sends:
json
{
"quickInsert": [
[0, 0],
[0, 1],
[0, 2],
[0, 3],
[0, 5],
[-1, -1],
[-1, -1],
[-1, -1]
]
}| Parameter | Type | Required | Description |
|---|---|---|---|
| quickInsert | array | Yes | Shortcut command array, 8 elements total, each element's first digit represents command type, second digit represents command |
5.2 Query Shortcut Commands
Command Word: 0x50E0
Host Computer Sends:
json
{}Description: data is an empty object.
5.3 Return Shortcut Commands
Command Word: 0x50E2
Controller Returns:
(Same format as 0x50E0)