JSON protocol:

Online Programming Command Set

File transfer

Preparation before sending (Gen 2 controller) run_project

• Input parameter

Parameter	Type	Description
project_name	string	File name.
file_size	int	File size.
plan_speed	int	Trajectory running speed.

• Output parameter

Parameter	Type	Description
run_project	bool	true: setting succeeded; false: setting failed.

• Code demo

Input

Implement: file xxx, size 2048, speed 50%.

{"command":"run_project","project_name":"XXX","file_size":2048,"plan_speed":50}

Output

{
    "command": "run_project",
    "project_state": true
}

Preparation before sending (Gen 3 controller) run_project

• Input parameter

Parameter	Type	Description
project_name	string	File name.
file_size	int	File size.
plan_speed	int	Trajectory running speed.
only_save	int	0: Save the file only, not running it.
save_id	int	The number saved to the controller, configurable from 1 to 100.
step_flag	int	Set single step mode, 1: single step mode, 0: normal motion mode.

• Output parameter

Parameter	Type	Description
run_project	bool	true: setting succeeded, false: setting failed

• Code demo

Input

Implement: file xxx, size 2048, speed 50%.

{"command":"run_project","project_name":"XXX","file_size":2048,"plan_speed":50,"step_flag":0,"only_save":0,"save_id":0}

Output

{
    "command": "run_project",
    "project_state": true
}

During sending conduct_project

WARNING

Start from the second time

• Input parameter

The robotic arm returns a frame of this command every time it receives 2K data. Upon receiving the command, the teach pendant continues to send the remaining data.

• Output parameter

Parameter	Type	Description
project_conduct	bool	true: reception succeeded; false: reception failed.

• Code demo

Output

{"command":"conduct_project","project_conduct":true}

Send check return download_project

• Input parameter

Parameter	Type	Description
download_project	string	Send check return.
project_state	string	Check results.
err_line	bool	Number of error lines.

• Output parameter

Parameter	Type	Description
project_state	bool	true: setting succeeded; false: setting failed.

• Output parameter

Parameter	Type	Description
project_state	bool	true: setting succeeded; false: setting failed
err_line	int	Check failed. err_line is the number of error lines. The teach pendant pops up a prompt message and marks this line in red. If err_line is 0, it means that the length of check data is incorrect.

• Code demo

Output

Check succeeded. The teach pendant pops up a prompt message.

{
    "command": "download_project",
    "project_state": true
}

Output

Check failed. err_line is the number of error lines. The teach pendant pops up a prompt message and marks this line in red.
If err_line is 0, it means that the length of check data is incorrect.

{
    "command": "download_project",
    "project_state": false,
    "err_line": 60
}

Change the speed coefficient in the planning process plan_speed

• Input parameter

Parameter	Type	Description
plan_speed	string	Change the speed coefficient in the planning process.
speed	int	Speed.

• Output parameter

Parameter	Type	Description
plan_state	bool	true: setting succeeded; false: setting failed

• Code demo

Input

Implement: Set the speed ratio to 50%.

{"command":"plan_speed","speed":50}

Output

{
    "command": "plan_speed",
    "plan_state": true
}

Prompt box

Prompt window content

Prompt window in file-tree form. This command is sent from the controller to the teach pendant and the returned value is sent from the teach pendant to the controller

• Input parameter

Parameter	Type	Description
content	int	A window pops up to indicate the location of the command in the file tree.

• Output parameter

Parameter	Type	Description
popup_result	bool	true: continue to execute; false: stop to execute

• Code demo

Input

Implement: Execute the first pop-up window of the file tree.

{"state":"popup","content":1}

Output

Continue to execute.

{
    "command": "popup",
    "popup_result": true
}

On-line programming file management (Gen 3 controller)

WARNING

Applicable to Gen 3 controllers.

Query online program list get_program_trajectory_list

• Input parameter

Parameter	Type	Description
page_num	int	Page number (This parameter is not passed when querying all programs).
page_size	int	Page size (This parameter is not passed when querying all programs).
vague_search	string	Vague search (passing this parameter can initiate vague search).

• Output parameter

Parameter	Type	Description
page_num	int	Page serial number.
page_size	int	Page size.
total_size	int	Total size.
vague_search	string	Vague search (passing this parameter can initiate vague search).
list	list	Trajectory list.

• Code demo

Input

Query the stored trajectory list. Page query and vague search are supported.

{"command":"get_program_trajectory_list","page_num":1,"page_size":10,"vague_search":"file"}

Output

{
    "command": "get_program_trajectory_list",
    "page_num": 1,
    "page_size": 2,
    "total_size": 2,
    "vague_search": "file",
    "list": [
        {
            "id": 1,
            "size": 2580,
            "speed": 50,
            "trajectory_name": "1_file1.txt"
        },
        {
            "id": 2,
            "size": 2580,
            "speed": 50,
            "trajectory_name": "2_file2.txt"
        }
    ]
}

Query the online program running state get_program_run_state

• Input parameter

Parameter	Type	Description
get_program_run_state	string	Query the running state of the current online programming file

• Output parameter

Parameter	Type	Description
run_state	int	0: Not started; 1: In running; 2 Paused.
id	int	ID of running trajectory, ID of stored trajectory, which is 0 if the trajectory is not stored, and no value is returned if the trajectory is not running.
plan_num	int	Number of lines having started to run, not returned if the trajectory has not started to run.
loop_num	int	Number of lines with loop commands, not returned if the trajectory has not started to run.
loop_cont	int	Running count of loop command lines, not returned if the trajectory has not started to run.
step_mode	int	Single step mode, 1: single step mode; 0: non-single step mode
plan_speed	int	Global planned speed ratio, 1−100.
edit_id	int	Previously edited online program ID.

• Code demo

Input

Query the stored trajectory list. Page query and vague search are supported.

{ "command": "get_program_run_state" }

Output

{
    "command": "get_program_run_state",
    "run_state": 1,
    "id": 1,
    "plan_num": 1,
    "loop_num": [
        1
    ],
    "loop_cont": [
        3
    ],
    "step_mode": 0,
    "plan_speed": 50,
    "edit_id": 1
}

Start to run the online programming file with the specified ID set_program_id_start

• Input parameter

Parameter	Type	Description
set_program_id_start	string	Start to run the trajectory with the specified ID.
id	int	Run the specified ID, 1-100. Trajectories are available for running.
speed	int	1-100. Trajectory running speed. The speed ratio may not be provided, and the trajectory will run according to the stored speed.

• Output parameter

Parameter	Type	Description
start_state	bool	true: start to run false: running failed.

• Output parameter

Parameter	Type	Description
finish_id	int	ID of finishing trajectory

• Code demo

Input

Start to run trajectory 2 at a speed of 50%.

{"command":"set_program_id_start","id":2,"speed":50}

Output

Start running successfully.

{
    "command": "set_program_id_run",
    "start_state": true
}

After the online program ends, the ID of the finishing trajectory will be reported automatically.

{
    "state": "program_run_finish",
    "finish_id": 4
}

Delete the specified online programming file delete_program_trajectory

• Input parameter

Parameter	Type	Description
delete_program_trajectory	string	Delete the trajectory with the specified ID
id	int	Specified ID, ID of deleted trajectory

• Output parameter

Parameter	Type	Description
delete_state	bool	true: success, false: failure

• Code demo

Input

Start to run trajectory 2 at a speed of 50%

{"command":"delete_program_trajectory","id":2}

Output

{
    "command": "delete_program_trajectory",
    "delete_state": true
}

Update the online programming file with the specified ID

• Input parameter

Parameter	Type	Description
update_program_trajectory	string	Update the information of the trajectory with the specified ID
id	int	ID of the specified online programming trajectory
plan_speed	int	Updated planned speed ratio, 1-100 (optional configuration)
project_name	string	Updated file name (10 bytes at most) (optional configuration)

• Output parameter

Parameter	Type	Description
update_state	bool	true: success, false: failure

• Code demo

Input

Update the information of trajectory with the specified ID

{"command":"update_program_trajectory","id":1,"plan_speed":66,"project_name":"file"}

Output

{
    "command": "update_program_trajectory",
    "update_state": true
}

Set the default running ID of IO

• Input parameter

Parameter	Type	Description
set_default_run_program	string	Set the ID of online programming file that the IO runs by default.

• Output parameter

Parameter	Type	Description
set_default_run_program	bool	true: success, false: failure

• Code demo

Input

Set the ID of online programming file that the IO runs by default. It is configurable from 0 to 100. 0 means canceling the setting.

{"command":"set_default_run_program","id":1}

Output

{
    "command": "set_default_run_program",
    "set_state": true
}

Get the default running ID of IO

• Input parameter

Parameter	Type	Description
get_default_run_program	string	Get the ID of online programming file that the IO runs by default.

• Output parameter

Parameter	Type	Description
id	int	ID of online programming file that the IO runs by default.

• Code demo

Input

Get the default running ID of IO

{ "command": "get_default_run_program" }

Output

{
    "command": "get_default_run_program",
    "id": 1
}

Global waypoints

WARNING

Applicable to Gen 3 controllers

Add global waypoints add_global_waypoint

• Input parameter

Parameter	Type	Description
add_global_waypoint	string	Newly added global waypoint
point_name	string	Name of global waypoint
joint	int	Joint angle of newly added global waypoint, unit: 0.001°
pose	object	Position of newly added global waypoint, position: x: 0.1 m, y: 0.2 m, z: 0.03 m, orientation: rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad
work_frame	object	Name of work frame
tool_frame	string	Name of tool frame
time	string	Time of newly added global waypoint

• Output parameter

Parameter	Type	Description
add_state	bool	true: success, false: failure

• Code demo

Input

Add global waypoints

{"command":"add_global_waypoint","point_name":"abc","joint":[10,20,30,40,50,60,40],"pose":[100000,200000,30000,400,500,600],"work_frame":"World","tool_frame":"Arm_Tip","time":"2023-2-22 15:23:00"}

Output

{
    "command": "add_global_waypoint",
    "add_state": true
}

Update global waypoints update_global_waypoint

• Input parameter

Parameter	Type	Description
update_global_waypoint	string	Update global waypoint commands.
point_name	string	Name of global waypoint.
joint	int	Update the joint angle of global waypoint, unit: 0.001°
pose	object	Update the position of global waypoint, position: x: 0.1 m, y: 0.2 m, z: 0.03 m, orientation: rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad.
work_frame	object	Name of work frame.
tool_frame	string	Name of tool frame.
time	string	Update the time of global waypoint.

• Output parameter

Parameter	Type	Description
update_state	bool	true: success, false: failure

• Code demo

Input

Update global waypoints

{"command":"update_global_waypoint","point_name":"abc","joint ":[10,20,30,40,50,60,40],"pose":[100000,200000,30000,400,500,600],"work_frame":"World","tool_frame":"Arm_Tip","time":"2023-2-22 15:23:00"}

Output

{
    "command": "update_global_waypoint",
    "update_state": true
}

Delete global waypoints delete_global_waypoint

• Input parameter

Parameter	Type	Description
delete_global_waypoint	string	Delete global waypoint commands.
point_name	string	Name of global waypoint.

• Output parameter

Parameter	Type	Description
delete_state	bool	true: success, false: failure

• Code demo

Input

Delete global waypoints.

{"command":"delete_global_waypoint","point_name":"abc"}

Output

{
    "command": "delete_global_waypoint",
    "delete_state": true
}

Query given global waypoints given_global_waypoint

• Input parameter

Parameter	Type	Description
given_global_waypoint	string	Query given global waypoint
point_name	string	Name of global waypoint

• Output parameter

Parameter	Type	Description
given_state	bool	true: success, false: failure

• Code demo

Input

Query the specified global waypoint

{"command":"given_global_waypoint","point_name":"abc"}

Output

{
    "command": "given_global_waypoint",
    "point_name": "abc",
    "joint": [
        10,
        20,
        30,
        40,
        50,
        60,
        40
    ],
    "pose": [
        100000,
        200000,
        30000,
        400,
        500,
        600
    ],
    "work_frame": "World",
    "tool_frame": "Arm_Tip",
    "time": "2022-12-22 15:23:00"
}

Query multiple global waypoints get_global_waypoints_list

• Input parameter

Parameter	Type	Description
get_global_waypoints_list	string	Query multiple global waypoints
page_num	int	Page number (This parameter is not passed when querying all global waypoints)
page_size	int	Page size (This parameter is not passed when querying all global waypoints)
vague_search	string	Vague search (passing this parameter can initiate vague search)

• Output parameter

Parameter	Type	Description
get_global_waypoints_list	string	Query global waypoints.
total_size	int	Total size.
list	object	Details of waypoints.

• Code demo

Input

Query multiple global waypoints.

{"command":"get_global_waypoints_list","page_num":1,"page_size":10,"vague_search":"file"}

Output

{
    "command": "get_global_waypoints_list",
    "total_size": 50,
    "list": [
        {
            "point_name": "abcd",
            "joint": [
                10,
                20,
                30,
                40,
                50,
                60,
                40
            ],
            "pose": [
                100000,
                200000,
                30000,
                400,
                500,
                600
            ],
            "work_frame": "World",
            "tool_frame": "Arm_Tip",
            "time": "2022-12-22 15:23:00"
        },
        {
            "point_name": "1abc",
            "joint": [
                10,
                20,
                30,
                40,
                50,
                60,
                40
            ],
            "pose": [
                100000,
                200000,
                30000,
                400,
                500,
                600
            ],
            "work_frame": "World",
            "tool_frame": "Arm_Tip",
            "time": "2022-12-22 15:23:00"
        }
    ]
}