JSON protocol:

Motion Command Set

Trajectory motion

Joint motionmovej

• Input parameter

Parameter	Type	Description
movej	string	joint motion command.
joint	int	Target joint angle, accuracy: 0.001°.
v	int	Speed percentage coefficient, range: 0-100.
r	int	Blend radius percentage coefficient, range: 0-100.
trajectory_connect	int	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

WARNING

The blend radius is valid only when trajectory_connect is 1, and is invalid when trajectory_connect is 0

• Output parameter

Parameter	Type	Description
receive_state	bool	true: setting succeeded, false: setting failed.

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

Execution: Joint motion with the following parameters:

6-DoF joint angle: [10.1°, 0.2°, 20.3°, 30.4°, 0.5°, 20.6°];
7-DoF joint angle: [10.1°, 0.2°, 20.3°, 30.4°, 0.5°, 20.6°, 20.6°];
Speed coefficient: 50%;
Blend radius: no blending.

6-DoF robotic arm:

{"command":"movej","joint":[10100,200,20300,30400,500,20600],"v":50,"r":0,"trajectory_connect":0}

7-DoF robotic arm:

{"command":"movej","joint":[10100,200,20300,30400,500,20600,20600],"v":50,"r":0,"trajectory_connect":0}

Output

Instruction reception succeeded:

{
    "command": "movej",
    "receive_state": true
}

Instruction reception failed:

{
    "command": "movej",
    "receive_state": false
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory.

Linear motionmovel

• Input parameter

Parameter	Type	Description
movel	string	Linear motion execution.
pose	int	Target pose, position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
v	int	Speed percentage coefficient, range: 0-100.
r	int	Blend radius percentage coefficient, range: 0-100.
trajectory_connect	int	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

WARNING

The MOVEL command is also applicable when the target position remains unchanged, but the orientation changes
The blend radius is valid only when trajectory_connect is 1, and is invalid when trajectory_connect is 0

• Output parameter

Parameter	Type	Description
receive_state	bool	true: setting succeeded, false: setting failed.

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

Execution: Linear motion with the following parameters:

Target position: x: 0.1 m, y: 0.2 m, z: 0.03 m
Target orientation: rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad
Speed coefficient: 50%
Blend radius: no blending.

{"command":"movel","pose":[100000,200000,30000,400,500,600],"v":50,"r":0,"trajectory_connect":0}

Output

Instruction reception succeeded:

{
    "command": "movel",
    "receive_state": true
}

Instruction reception failed:

{
    "command": "movel",
    "receive_state": false
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory.

Circular motionmovec

• Input parameter

Parameter	Type	Description
movec	string	Circular motion
pose	object	Pose.
pose_via	int	Pose of via-point: position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
pose_to	int	Target pose: position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
v	int	Speed percentage coefficient, range: 0-100.
r	int	Blend radius percentage coefficient, range: 0-100.
loop	int	Loop count, 0 by default.
trajectory_connect	int	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

WARNING

The blend radius is valid only when trajectory_connect is 1, and is invalid when trajectory_connect is 0.

• Output parameter

Parameter	Type	Description
receive_state	bool	true: setting succeeded, false: setting failed.

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

Execution: Circular motion with the following parameters:

Position of via-point: x: 0.1 m, y: 0.2 m, z: 0.03 m;
Orientation of via-point: rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad;
Position of final point: x: 0.2 m, y: 0.3 m, z: 0.03 m;
Orientation of final point: rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad;
Speed coefficient: 50%;
Blend radius: no blending.

{"command":"movec","pose":{"pose_via":[100000,200000,30000,400,500,600],"pose_to":[200000,300000,30000,400,500,600]},"v":50,"r":0,"loop":0,"trajectory_connect":0}

Output

Instruction reception succeeded:

{
    "command": "movec",
    "receive_state": true
}

Instruction reception failed:

{
    "command": "movec",
    "receive_state": false
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory.

Offset movementmove_offset

• Input parameter

Parameter	Type	Description
movel_offset	string	Offset movement command.
offset	string	Offset parameter, position and posture offset, position unit: meter.
v	int	Speed percentage coefficient, 0~100.
r	int	Blend radius percentage coefficient, 0~100.
trajectory_connect	int	Trajectory connection mode, indicating whether to plan with the next movement, 0 means all in place, 1 means connecting the next trajectory.
frame_type	int	Reference coordinate system type: 0-Work, 1-Tool.

• Output parameter

Parameter	Type	Description
receive_state	bool	true： Setting succeeded;false：Setting failed.

You can jump to current_trajectory_stateto view the output parameters of the movement in place return result.

• Code demo

Input

{ "command": "movel_offset",
    "offset": [1000, 2000, 0, 100, 0, 0],
    "v": 50,
    "r": 0,
    "trajectory_connect": 0,
    "frame_type": 0}

Output

Command received successfully:

{
    "command": "movel_offset",
    "receive_state": true
}

Command received failed:

{
    "command": "movel_offset",
    "receive_state": false
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect：whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory.

Joint space planning to target orientationmovej_p

Move to target pose through joint space planning.

• Input parameter

Parameter	Type	Description
movej_p	string	Joint space planning to target orientation command.
pose	int	Target pose, position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
v	int	Speed percentage coefficient, range: 1-100.
r	int	Blend radius percentage coefficient, range: 0-100.
trajectory_connect	int	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

• Output parameter

Parameter	Type	Description
pose	array	Current pose, position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
joint	array	Current joint angle, accuracy: 0.001°.
arm_err	number	State code. If the value is 0, it indicates the system is functioning normally, and the command is executed successfully. If any other error occurs, the corresponding error code is returned, and the command is not executed.

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

{
  "command": "movej_p",
  "pose": [100000, 200000, 30000, 400, 500, 600],
  "v": 50,
  "r": 0,
  "trajectory_connect": 0
}

Output

Return command reception state:

{
  "command": "movej_p",
  "receive_state": true
}

Motion completed succeeded:

{
  "state": "current_trajectory_state",
  "trajectory_state": true
  "device": 0,
  "trajectory_connect": 1,
}

Motion completed failed:

{
  "state": "current_trajectory_state",
  "trajectory_state": false
  "device": 0,
  "trajectory_connect": 1,
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory.

Spline curve motionmoves

Spline curve motion is a smooth motion trajectory defined by control points, also known as nodes or key points. To achieve spline curve motion, at least three distinct data points are required to complete the reverse calculation of control points. These data points are entered sequentially via the moves command.

• Input parameter

Parameter	Type	Description
moves	string	Spline curve motion command.
pose	int	Target pose, position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
v	int	Speed percentage coefficient, range: 0-100.
r	int	Blend radius percentage coefficient, range: 0-100.
trajectory_connect	int	Optional, indicating whether to plan the motion together with the next trajectory. 0: The motion is planned immediately, 1: It is planned together with the next trajectory. When set to 1, the trajectory will not execute immediately.

WARNING

This motion currently does not support trajectory blending.

• Output parameter

Parameter	Type	Description
receive_state	bool	true: setting succeeded, false: setting failed.

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

Execution: Three-point spline curve motion with the following parameters:

Target position:
x：0.1m，y：0.2m，z：0.03m；
x：0.1m，y：0.3m，z：0.03m；
x：0.1m，y：0.4m，z：0.03m；
Target orientation: rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad;
Speed coefficient: 50%;
Blend radius: no blending.

WARNING

The following commands should be run line by line.

{"command":"moves","pose":[100000,200000,30000,400,500,600],"v":50,"r":0,"trajectory_connect":1}

{"command":"moves","pose":[100000,300000,30000,400,500,600],"v":50,"r":0,"trajectory_connect":1}

{"command":"moves","pose":[100000,400000,30000,400,500,600],"v":50,"r":0,"trajectory_connect":0}

Output

Instruction reception succeeded:

{
    "command": "moves",
    "receive_state": true
}

Instruction reception failed:

{
    "command": "moves",
    "receive_state": false
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory.

Pose pass-through movep_canfd

The target pose is passed-through to the robotic arm via CANFD, without the need of controller planning. The target pose is the numerical values of the current tool in the current work frame and tool frame.

• Input parameter

Parameter	Type	Description
movep_canfd	string	Pose passed-through to CANFD. If the command is correct, the robotic arm will execute it immediately.
pose	int	Target pose. Position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
follow	bool	Driver motion follow, true: high follow, false: low follow. If high follow is used, the pass-through cycle should not exceed 10 ms.

WARNING

The pass-through effect is related to the period and the smoothness of the trajectory. The period must be stable to prevent significant fluctuations.

The high-speed Ethernet port pass-through cycle can also reach 10 ms, but the configuration must be enabled with a command before using the high-speed network port.

Additionally, Ethernet port can attain a pass-through cycle as fast as 2 ms.

When using this command, users should carefully plan the trajectory, as the smoothness of the trajectory planning determines the robotic arm's operating state. The maximum angle between frames for each joint must not exceed 10°, and the joint planning speed must not exceed 180°/s. Otherwise, the joint will not respond.

• Output parameter

Parameter	Type	Description
pose	array	Current pose, position accuracy: 0.001 mm, orientation accuracy: 0.001 rad.
joint	array	Current joint angle, accuracy: 0.001°.
arm_err	number	State code. If the value is 0, it indicates the system is functioning normally, and the command is executed successfully. If any other error occurs, the corresponding error code is returned, and the command is not executed.

WARNING

The robotic arm no longer provides return values, and the real-time state is collected via the UDP state reporting interface.

• Code demo

Input

Execution: Target pose pass-through with the following parameters:

Target position: x: 0.1 m, y: 0.2 m, z: 0.03;
Target orientation (Euler angle): rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad;
Target orientation (quaternion): w: 0.4, x: 0.5, y: 0.6, z: 0.7.

Pose pass-through via Euler angles:

{"command":"movep_canfd","pose":[100000,200000,30000,400,500,600],"follow":true}

Pose pass-through via quaternion:

{"command":"movep_canfd","pose_quat":[100000,200000,30000,400000,500000,600000,700000],"follow":true}

Output

Current 6-DoF pose: position accuracy: 0.001 mm, orientation accuracy: 0.001 rad;
joint: current joint angle, accuracy: 0.001°;

{
    "state": "pose_state",
    "pose": [
        10,
        20,
        30,
        40,
        50,
        60
    ],
    "joint": [
        10,
        20,
        30,
        40,
        50,
        60
    ],
    "arm_err": 0
}

Current 7-DoF pose: position accuracy: 0.001 mm, orientation accuracy: 0.001 rad;
joint: current joint angle, accuracy: 0.001°;

{
    "state": "pose_state",
    "pose": [
        10,
        20,
        30,
        40,
        50,
        60
    ],
    "joint": [
        10,
        20,
        30,
        40,
        50,
        60,
        70
    ],
    "arm_err": 0
}

Angle pass-through movej_canfd

The angle is passed-through to the robotic arm via CANFD, without the need of controller planning.

• Input parameter

Parameter	Type	Description
movej_canfd	string	Angle passed-through to CANFD. If the command is correct, the robotic arm will execute it immediately.
joint	int	Joint angle, accuracy: 0.001°.
follow	bool	Driver motion follow, true: high follow, false: low follow. If high follow is used, the pass-through cycle should not exceed 10 ms.
expand	int	Optional field for sending. If a universal extension axis exists and pass-through is needed, this parameter can be used for pass-through.

WARNING

The pass-through effect is related to the period and the smoothness of the trajectory. The period must be stable to prevent significant fluctuations.

The high-speed Ethernet port pass-through cycle can also reach 10 ms, but the configuration must be enabled with a command before using the high-speed network port.

Additionally, the Ethernet port can attain a pass-through cycle as fast as 2 ms.

When using this command, users should carefully plan the trajectory, as the smoothness of the trajectory planning determines the robotic arm's operating state. The maximum angle between frames for each joint must not exceed 10°, and the joint planning speed must not exceed 180°/s. Otherwise, the joint will not respond.

• Output parameter

Parameter	Type	Description
arm_err	number	State code. If the value is 0, it indicates the system is functioning normally, and the command is executed successfully. If any other error occurs, the corresponding error code is returned, and the command is not executed

• Code demo

Input

Execution: Target angle pass-through to the robotic arm via CANFD with the following parameters:

Target joint angle of the 6-DoF robotic arm: [1°, 0°, 20°, 30°, 0°, 20°], follow indicates the motion following effect of the driver, true means high following and false means low following;
Target joint angle of the 7-DoF robotic arm: [1°, 0°, 20°, 30°, 0°, 20°, 20°], follow indicates the motion following effect of the driver, true means high following and false means low following.

6-DoF robotic arm:

{"command":"movej_canfd","joint":[1000,0,20000,30000,0,20000],"follow":true,"expand":1000}

7-DoF robotic arm:

{"command":"movej_canfd","joint":[1000,0,20000,30000,0,20000,20000],"follow":true,"expand":1000}

Output

6-DoF robotic arm:

{
    "state": "joint_state",
    "joint": [
        10,
        20,
        30,
        40,
        50,
        60
    ],
    "arm_err": 0
}

7-DoF robotic arm:

{
    "state": "joint_state",
    "joint": [
        10,
        20,
        30,
        40,
        50,
        60,
        70
    ],
    "arm_err": 0
}

### Joint following motion in space `movej_follow`

Update the target joint angles for the robotic arm, and the arm will automatically plan the trajectory motion to follow the target points.

• Input parameter

Parameter	Type	Description
movej_follow	string	Update the target angle for the robotic arm.
joint	int	Joint angle, accuracy: 0.001°.

WARNING

The user does not need to plan the trajectory when issuing this command

• Code demo

Input

Note: target angle, target joint angle of the 6-DoF robotic arm: [1°, 0°, 20°, 30°, 0°, 20°], target joint angle of the 7-DoF robotic arm: [1°, 0°, 20°, 30°, 0°, 20°, 20°].

6-DoF robotic arm:

{"command":"movej_follow","joint":[1000,0,20000,30000,0,20000]}

7-DoF robotic arm:

{"command":"movej_follow","joint":[1000,0,20000,30000,0,20000,20000]}

Output

Real-time joint information can be obtained through the UDP reporting interface

Following motion in Cartesian space movep_follow

Update the target joint angles for the robotic arm, and the arm will automatically plan the trajectory motion to follow the target points.

• Input parameter

Parameter	Type	Description
movep_follow	string	Update the target angle for the robotic arm.
pose	int	Target pose. Position accuracy: 0.001 mm, orientation accuracy: 0.001 rad

WARNING

The user does not need to plan the trajectory when issuing this command

• Code demo

Input

Note: pose: target pose, position accuracy: 0.001 mm, orientation accuracy: 0.001 rad

1. Target position: x: 0.1 m, y: 0.2 m, z: 0.03
2. Target orientation (Euler angle): rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad
3. Target orientation (quaternion): w: 0.4, x: 0.5, y: 0.6, z: 0.7
4. The target pose is the numerical values of the current tool in the current work frame and tool frame

Pose pass-through via Euler angles:

{"command":"movep_follow","pose":[100000,200000,30000,400,500,600]}

Pose pass-through via quaternion:

{"command":"movep_follow","pose_quat":[100000,200000,30000,400000,500000,600000,700000]}

Output

Real-time joint information can be obtained through the UDP reporting interface

Joint following motion in space movej_follow

Update the target joint angles for the robotic arm, and the arm will automatically plan the trajectory motion to follow the target points.

• Input parameter

Parameter	Type	Description
movej_follow	string	Update the target angle for the robotic arm.
joint	int	Joint angle, accuracy: 0.001°.

WARNING

The user does not need to plan the trajectory when issuing this command

• Code demo

Input

Note: target angle, target joint angle of the 6-DoF robotic arm: [1°, 0°, 20°, 30°, 0°, 20°], target joint angle of the 7-DoF robotic arm: [1°, 0°, 20°, 30°, 0°, 20°, 20°].

6-DoF robotic arm:

{"command":"movej_follow","joint":[1000,0,20000,30000,0,20000]}

7-DoF robotic arm:

{"command":"movej_follow","joint":[1000,0,20000,30000,0,20000,20000]}

Output

Real-time joint information can be obtained through the UDP reporting interface

Following motion in Cartesian space movep_follow

Update the target joint angles for the robotic arm, and the arm will automatically plan the trajectory motion to follow the target points.

• Input parameter

Parameter	Type	Description
movep_follow	string	Update the target angle for the robotic arm.
pose	int	Target pose. Position accuracy: 0.001 mm, orientation accuracy: 0.001 rad

WARNING

The user does not need to plan the trajectory when issuing this command

• Code demo

Input

Note: pose: target pose, position accuracy: 0.001 mm, orientation accuracy: 0.001 rad

1. Target position: x: 0.1 m, y: 0.2 m, z: 0.03
2. Target orientation (Euler angle): rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad
3. Target orientation (quaternion): w: 0.4, x: 0.5, y: 0.6, z: 0.7
4. The target pose is the numerical values of the current tool in the current work frame and tool frame

Pose pass-through via Euler angles:

{"command":"movep_follow","pose":[100000,200000,30000,400,500,600]}

Pose pass-through via quaternion:

{"command":"movep_follow","pose_quat":[100000,200000,30000,400000,500000,600000,700000]}

Output

Real-time joint information can be obtained through the UDP reporting interface

Motion control

Set quick stopset_arm_stop

Set a quick stop.

• Input parameter

Parameter	Type	Description
set_arm_stop	string	Orientation step command.

• Output parameter

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

• Code demo

Input

Execution: Set quick stop.

{ "command": "set_arm_stop" }

Output

{
    "command": "set_arm_stop",
    "arm_stop": true
}

Set slow stopset_arm_slow_stop

Stop on the currently running trajectory.

• Input parameter

Parameter	Type	Description
set_arm_slow_stop	string	Slow stop command.

• Output parameter

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

• Code demo

Input

Execution: Set slow stop.

{ "command": "set_arm_slow_stop" }

Output

{
    "command": "set_arm_slow_stop",
    "arm_slow_stop": true
}

Set pauseset_arm_pause

Pause on the trajectory with a recoverable trajectory.

• Input parameter

Parameter	Type	Description
set_arm_pause	string	Pause command.

• Output parameter

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

• Code demo

Input

Execution: Set pause.

{ "command": "set_arm_pause" }

Output

{
    "command": "set_arm_pause",
    "arm_pause": true
}

Resume after pauseset_arm_continue

• Input parameter

Parameter	Type	Description
set_arm_continue	string	Resumption after pause command.

• Output parameter

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

• Code demo

Input

Execution: Resume after pause.

{ "command": "set_arm_continue" }

Output

{
    "command": "set_arm_continue",
    "arm_continue": true
}

Delete current trajectoryset_delete_current_trajectory

Delete the current trajectory. This command must be executed after pausing!

• Input parameter

Parameter	Type	Description
set_delete_current_trajectory	string	Current trajectory deletion command.

• Output parameter

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

• Code demo

Input

Execution: Delete current trajectory.

{ "command": "set_delete_current_trajectory" }

Output

{
    "command": "set_delete_current_trajectory",
    "delete_current_trajectory": true
}

Delete all trajectoriesset_arm_delete_trajectory

Delete all trajectories. This command must be executed after pausing!

• Input parameter

Parameter	Type	Description
set_arm_delete_trajectory	string	All trajectories' deletion command.

• Output parameter

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

• Code demo

Input

Execution: Delete all trajectories.

{ "command": "set_arm_delete_trajectory" }

Output

{
    "command": "set_arm_delete_trajectory",
    "arm_delete_trajectory": true
}

Get the current planning typeget_arm_current_trajectory

• Input parameter

Parameter	Type	Description
get_arm_current_trajectory	string	Current planning type getting command.

• Output parameter

Parameter	Type	Description
get_arm_current_trajectory	string	Return the currently running trajectory.

• Code demo

Input

Execution: Get the current planning type.

{ "command": "get_arm_current_trajectory" }

Output

Currently running joint planning, with the array containing the current joint angles, accuracy: 0.001°.

6-DoF robotic arm:

{
    "command": "get_arm_current_trajectory",
    "type": "movej",
    "data": [
        0,
        0,
        0,
        0,
        0,
        0
    ]
}

7-DoF robotic arm:

{
    "command": "get_arm_current_trajectory",
    "type": "movej",
    "data": [
        0,
        0,
        0,
        0,
        0,
        0,
        0
    ]
}

Currently running linear planning, with the array containing the current end effector pose, position accuracy:0.001 mm, orientation accuracy: 0.001 rad.

{"command": "get_arm_current_trajectory","type":"movel","data":[0,0,0,0,0,0]}

Currently running circular planning, with the array containing the current end effector pose, position accuracy:0.001 mm, orientation accuracy: 0.001 rad.

{
    "command": "get_arm_current_trajectory",
    "type": "movec",
    "data": [
        0,
        0,
        0,
        0,
        0,
        0
    ]
}

No active planning, with the array containing the current joint angles, accuracy: 0.001°.

6-DoF robotic arm:

{
    "command": "get_arm_current_trajectory",
    "type": "none",
    "data": [
        0,
        0,
        0,
        0,
        0,
        0
    ]
}

7-DoF robotic arm:

{
    "command": "get_arm_current_trajectory",
    "type": "none",
    "data": [
        0,
        0,
        0,
        0,
        0,
        0,
        0
    ]
}

Trajectory completion return flagcurrent_trajectory_state

The trajectory is the current trajectory.

• Output parameter

Parameter	Type	Description
current_trajectory_state	string	Current trajectory completion return flag.
trajectory_state	bool	true: motion completed succeeded; false: motion completed failed.
device	int	0: joint, 1: gripper, 2: dexterous hand, 3: lift mechanism, 4: expansion joint, others: reserved.
trajectory_connect	num	Whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory.

Code demo

Execution: Current trajectory reached the target.

{"state":"current_trajectory_state","trajectory_state":true,"device":0,"trajectory_connect": 1}

Step motion

Joint stepset_joint_step

Control the step motion of a specific joint of the robotic arm.

• Input parameter

Parameter	Type	Description
set_joint_step	string	Joint step command.
joint_step	int	(1) Step joint number; (2) Joint step angle, unit: °, accuracy: 0.001°.
v	int	Speed percentage coefficient, range: 0-10.

• Output parameter

Parameter	Type	Description
receive_state	bool	true: setting succeeded, false: setting failed.

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

Execution: Joint step, joint 1 steps backward by 10° at a speed of 30%.

{ "command": "set_joint_step", "joint_step": [1, -10000], "v": 30 }

Output

Instruction reception succeeded:

{
    "command": "set_joint_step",
    "receive_state": true
}

Instruction reception failed:

{
    "command": "set_joint_step",
    "receive_state": true
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory

Position stepset_pos_step

Control the robotic arm to perform linear step motion along the x, y, and z axes.

• Input parameter

Parameter	Type	Description
set_pos_step	string	Position step command.
step_type	string	Step type: x_step: X-axis direction, y_step: Y-axis direction, z_step: Z-axis direction.
v	int	Speed percentage coefficient, range: 0-100.
step	int	Step distance unit: m, accuracy: 0.001 mm, equivalent to 0.000001 m.

• Output parameter

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

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

Execution: Position step, step 0.5 m backward along the x-axis at a speed of 30%.

{"command":"set_pos_step","step_type":"x_step","step":-500000,"v":30}

Output

Instruction reception succeeded:

{
    "command": "set_pos_step",
    "receive_state": true
}

Instruction reception failed:

{
    "command": "set_pos_step",
    "receive_state": false
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory

Orientation stepset_ort_step

Control the robotic arm to perform rotation step motion along the x, y, and z axes.

• Input parameter

Parameter	Type	Description
set_ort_step	string	Orientation step command.
step_type	string	Step direction: rx_step: rotation around the X-axis, ry_step: rotation around the Y-axis, rz_step: rotation around the Z-axis.
v	int	Speed percentage coefficient, range: 0-100.
step	int	Step angle: unit: rad, accuracy: 0.001 rad.

• Output parameter

Parameter	Type	Description
receive_state	bool	true: setting succeeded, false: setting failed.

You can refer to current_trajectory_state for the output parameters of the motion completion return result.

• Code demo

Input

Execution: Orientation step, rotate 0.5 rad backward around the x-axis at a speed of 30%.

{"command":"set_ort_step","step_type":"rx_step","step":-500,"v":30}

Output

Instruction reception succeeded:

{
    "command": "set_ort_step",
    "receive_state": true
}

Instruction reception failed:

{
    "command": "set_ort_step",
    "receive_state":  false
}

Motion completed succeeded:

{
    "state": "current_trajectory_state",
    "trajectory_state": true,
    "device": 0,
    "trajectory_connect": 1
}

Motion completed failed:

{
    "state": "current_trajectory_state",
    "trajectory_state": false,
    "device": 0,
    "trajectory_connect": 1
}

WARNING

trajectory_connect: whether to connect to the next trajectory, 0: all trajectories in position, 1: connected to the next trajectory

Teaching motion

Joint teachingset_joint_teach

• Input parameter

Parameter	Type	Description
set_joint_teach	string	Joint step command.
teach_joint	int	Joint number.
direction	string	Direction, "pos": positive direction, “neg”: negative direction.
v	int	Speed coefficient

• Output parameter

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

• Code demo

Input

Execution: Joint 1 teaching, positive direction at a speed of 50%.

{"command":"set_joint_teach","teach_joint":1,"direction":"pos","v":50}

Output

{
    "command": "set_joint_teach",
    "joint_teach": true
}

Position teachingset_pos_teach

• Input parameter

Parameter	Type	Description
set_pos_teach	string	Position teaching command.
teach_type	string	Coordinate axis, "x", "y", "z".
direction	string	Direction, "pos": positive direction, “neg”: negative direction.
v	int	Speed coefficient

• Output parameter

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

• Code demo

Input

Execution: Position teaching, x-axis negative direction at a speed of 50%.

{"command":"set_pos_teach","teach_type":"x","direction":"neg","v":50}

Output

{
    "command": "set_pos_teach",
    "pos_teach": true
}

Orientation teachingset_ort_teach

• Input parameter

Parameter	Type	Description
set_ort_teach	string	Orientation teaching command.
teach_type	string	Rotation axis, "rx", "ry", "rz".
direction	string	Direction, "pos": positive direction, “neg”: negative direction.
v	int	Speed coefficient

• Output parameter

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

• Code demo

• Output parameter

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

Input

Execution: Pose teaching, rx-axis negative direction at a speed of 50%.

{"command":"set_ort_teach","teach_type":"rx","direction":"neg","v":50}

Output

{
    "command": "set_ort_teach",
    "ort_teach": true
}

Stop teachingset_stop_teach

• Input parameter

Parameter	Type	Description
set_stop_teach	string	Teaching stop command.

• Code demo

Input

Execution: Stop teaching.

{ "command": "set_stop_teach" }

Output

{
    "command": "set_stop_teach",
    "stop_teach": true
}

Set teaching reference frameset_teach_frame

• Input parameter

Parameter	Type	Description
set_teach_frame	string	Teaching reference frame setting command.
frame_type	number	0: work frame, 1: tool frame.

• Output parameter

Parameter	Type	Description
set_state	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the teaching reference frame to the work frame.

{"command":"set_teach_frame","frame_type":0}

Output

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

Get the teaching reference frameget_teach_frame

• Input parameter

Parameter	Type	Description
get_teach_frame	string	Teaching reference frame acquisition command.

• Output parameter

Parameter	Type	Description
frame_type	number	0: work frame, 1: tool frame.

• Code demo

Input

Execution: Get the teaching reference frame.

{ "command": "get_teach_frame" }

Output

{
    "command": "get_teach_frame",
    "frame_type": 0
}