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Online Programming Command Set

On-line programming file management

Query online program list get_program_trajectory_list

  • Input parameter
ParameterTypeDescription
page_numintPage number (This parameter is not passed when querying all programs).
page_sizeintPage size (This parameter is not passed when querying all programs).
vague_searchstringVague search (passing this parameter can initiate vague search).
  • Output parameter
ParameterTypeDescription
page_numintPage serial number.
page_sizeintPage size.
total_sizeintTotal size.
vague_searchstringVague search (passing this parameter can initiate vague search).
listlistTrajectory list.
  • Code demo

Input

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

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

Output

json
{
    "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 Flowchart Program Run State get_flowchart_program_run_state

  • Input parameter
ParameterTypeDescription
get_flowchart_program_run_statestringQuery the run state of the current online programming file
  • Output parameter
ParameterTypeDescription
run_stateint0: Not Started, 1: Running, 2: Paused.
step_modeintStep-by-step mode, 1 for step-by-step mode, 0 for non-step-by-step mode. Not returned if not running.
modal_idintID of the flowchart block currently being executed. Not returned if not running.
idintID of the currently enabled file.
namestringName of the currently enabled file.
plan_speedintGlobal planning speed ratio (1 - 100) of the currently enabled file.
  • Code demo

Input

json
{ "command": "get_flowchart_program_run_state" }

Output

json
{
    "command":"get_flowchart_program_run_state",
    "id":15,
    "modal_id":"fdc30031-0b0a-448b-936a-e6c8d73c199f",
    "name":"readIO",
    "plan_speed":50,
    "run_state":1,
    "step_mode":1
}

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

  • Input parameter
ParameterTypeDescription
set_program_id_startstringStart to run the trajectory with the specified ID.
idintRun the specified ID, 1-100. Trajectories are available for running.
speedint1-100. Trajectory running speed. The speed ratio may not be provided, and the trajectory will run according to the stored speed.
  • Output parameter
ParameterTypeDescription
start_statebooltrue: start to run false: running failed.
  • Output parameter
ParameterTypeDescription
finish_idintID of finishing trajectory
  • Code demo

Input

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

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

Output

Start running successfully.

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

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

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

Delete the specified online programming file delete_program_trajectory

  • Input parameter
ParameterTypeDescription
delete_program_trajectorystringDelete the trajectory with the specified ID
idintSpecified ID, ID of deleted trajectory
  • Output parameter
ParameterTypeDescription
delete_statebooltrue: success, false: failure
  • Code demo

Input

Start to run trajectory 2 at a speed of 50%

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

Output

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

Update the online programming file with the specified ID

  • Input parameter
ParameterTypeDescription
update_program_trajectorystringUpdate the information of the trajectory with the specified ID
idintID of the specified online programming trajectory
plan_speedintUpdated planned speed ratio, 1-100 (optional configuration)
project_namestringUpdated file name (10 bytes at most) (optional configuration)
  • Output parameter
ParameterTypeDescription
update_statebooltrue: success, false: failure
  • Code demo

Input

Update the information of trajectory with the specified ID

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

Output

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

Set the default running ID of IO

  • Input parameter
ParameterTypeDescription
set_default_run_programstringSet the ID of online programming file that the IO runs by default.
  • Output parameter
ParameterTypeDescription
set_default_run_programbooltrue: 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.

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

Output

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

Get the default running ID of IO

  • Input parameter
ParameterTypeDescription
get_default_run_programstringGet the ID of online programming file that the IO runs by default.
  • Output parameter
ParameterTypeDescription
idintID of online programming file that the IO runs by default.
  • Code demo

Input

Get the default running ID of IO

json
{ "command": "get_default_run_program" }

Output

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

Global waypoints

Add global waypoints add_global_waypoint

  • Input parameter
ParameterTypeDescription
add_global_waypointstringNewly added global waypoint
point_namestringName of global waypoint
jointintJoint angle of newly added global waypoint, unit: 0.001°
poseobjectPosition 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_frameobjectName of work frame
tool_framestringName of tool frame
timestringTime of newly added global waypoint
  • Output parameter
ParameterTypeDescription
add_statebooltrue: success, false: failure
  • Code demo

Input

Add global waypoints

json
{"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

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

Update global waypoints update_global_waypoint

  • Input parameter
ParameterTypeDescription
update_global_waypointstringUpdate global waypoint commands.
point_namestringName of global waypoint.
jointintUpdate the joint angle of global waypoint, unit: 0.001°
poseobjectUpdate 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_frameobjectName of work frame.
tool_framestringName of tool frame.
timestringUpdate the time of global waypoint.
  • Output parameter
ParameterTypeDescription
update_statebooltrue: success, false: failure
  • Code demo

Input

Update global waypoints

json
{"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

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

Delete global waypoints delete_global_waypoint

  • Input parameter
ParameterTypeDescription
delete_global_waypointstringDelete global waypoint commands.
point_namestringName of global waypoint.
  • Output parameter
ParameterTypeDescription
delete_statebooltrue: success, false: failure
  • Code demo

Input

Delete global waypoints.

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

Output

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

Query given global waypoints given_global_waypoint

  • Input parameter
ParameterTypeDescription
given_global_waypointstringQuery given global waypoint
point_namestringName of global waypoint
  • Output parameter
ParameterTypeDescription
given_statebooltrue: success, false: failure
  • Code demo

Input

Query the specified global waypoint

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

Output

json
{
    "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
ParameterTypeDescription
get_global_waypoints_liststringQuery multiple global waypoints
page_numintPage number (This parameter is not passed when querying all global waypoints)
page_sizeintPage size (This parameter is not passed when querying all global waypoints)
vague_searchstringVague search (passing this parameter can initiate vague search)
  • Output parameter
ParameterTypeDescription
get_global_waypoints_liststringQuery global waypoints.
total_sizeintTotal size.
listobjectDetails of waypoints.
  • Code demo

Input

Query multiple global waypoints.

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

Output

json
{
    "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"
        }
    ]
}