JSON protocol:

Online Programming Command Set

On-line programming file management

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 Flowchart Program Run State get_flowchart_program_run_state

• Input parameter

Parameter	Type	Description
get_flowchart_program_run_state	string	Query the run state of the current online programming file

• Output parameter

Parameter	Type	Description
run_state	int	0: Not Started, 1: Running, 2: Paused.
step_mode	int	Step-by-step mode, 1 for step-by-step mode, 0 for non-step-by-step mode. Not returned if not running.
modal_id	int	ID of the flowchart block currently being executed. Not returned if not running.
id	int	ID of the currently enabled file. Not returned if not running.
name	string	Name of the currently enabled file.
plan_speed	int	Global planning speed ratio (1 - 100).

• Code demo

Input

{ "command": "get_flowchart_program_run_state" }

Output

{
    "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

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

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"
        }
    ]
}