10.6 Register

10.6.1 Overview of registers

The register represents the available variables within a robot, which are generally used for data communication with external devices, so as to control the robot and obtain its status. The register can also be used as a variable in the current RL project. The register variables can be operated by commands or assignments.

Note:

• The register is a concept of robots themselves, rather than belonging to bus devices. A register can be created or edited by specifying which bus device it is bound to for communication.

• Each register occupies 2 bytes. For different types of variables, the number of registers occupied is different.

10.6.2 Register parameter configuration

On the "Communication" -> "Register" page, you can view existing registers and perform Add, Edit, and Delete.

①	Register list.
②	Register import and export button, click to switch to the register import and export page, and perform import and export.
③	The register operation buttons, from left to right, are Create, Edit, and Delete.

Parameter	Explanation
Name	In RL, register variables can be accessed through this name. Note: The list cannot have duplicate names, nor can it have duplicate names with any variables in the RL list. Otherwise, RL will have variable conflicts, which may result in unpredictable consequences.
Type	bit, byte, bool, int16, float, and int32 are supported.
Start Address	The register addresses of the same read and write attributes in the same bus device cannot be cross-occupied, and the register addresses of different read and write attributes in the Modbus bus device cannot be cross-occupied. For example, if one register occupies 41000-41003, another register cannot start from 41002.
ReadWrite	ReadWrite attribute, indicating whether the register is read or written from the robot’s perspective (not from the master or slave’s perspective). Write-only registers are used for robot external output status; read-only registers are used by robots to obtain commands sent from external devices.
IsRetain	When the register is set to hold, the value of this IsRetain on a non-volatile storage medium during robot restart, shutdown, power outage, or RL stop. When the robot powers on again or RL is running again, the value of register is restored to the value held before the robot shuts down or RL is stopped.
Length	The length represents the number of variables. For variables greater than 1, variable references can be made using arrays, with subscripts starting from 1. Note: It is different from the number of registers. For example: Registers 40140−40153, the variable type is float, and each float occupies 2 registers with a size of 7. Therefore, the number of registers occupied is 2 * 7 = 14.
Bit Bias	Bit Bias represents the position of the bit type register mapped to the register. A register occupies two bytes, which is 16 bits, and the bit offset refers to the position of the corresponding register, with an offset value of 1−16. When creating a bit type register, the bias value can be set if the element number is 1, on the contrary, it cannot be set.
Byte Bias	Byte Bias represents the position of the Byte type register mapped to the register. A register occupies two bytes, which is 16 bits, while a byte variable only requires 8 bits. Therefore, when creating a byte register variable, it is necessary to choose whether to map to 8 bits of LSB (1−8) or 8 bits of MSB (9−16) of the register.
End Address	The end address represents the last register address occupied by the register variable. When the register variables are arranged continuously, the user can quickly understand the space occupied by the register through this value. For example, the start address of the next register can be determined by adding 1 to the value of this item.
Device name	The device name is defined when the "bus device" is created, indicating which bus device is bound to the register. The register can be bound to the CC-Link, CC-Link IE Field Basic, Modbus, and EtherCAT devices.
Function	The content in this column is some fixed function codes, indicating the robot function corresponding to this register. Function codes are divided into read-only and write-only function codes, as detailed in the Register Function Code section below.

The parameters of each column in the register list are explained in the following table:

10.6.3 Register type

Type	Explanation
bit	Only one bit of a register is occupied, and the bit array needs to appear in integer multiples of 16 bits. For example, for a bit type register starting from 41000-bit, a variable with a size of 64 occupies 4 registers from 41000 to 41003.
byte	Only a certain 8 bits of a register are occupied, and LSB (the first 8 bits of the register) or MSB (the last 8 bits of the register). When creating a byte register array, the default is LSB, and MSB and LSB cannot be changed.
bool	Occupy 1 register.
int16	Occupy 1 register.
float	Occupy 2 register.
int32	Occupy 2 register. Note: When the device type is PROFINET, creation is not supported.

About bit type registers:

①	Element Number.
②	Bit Bias. As shown in the figure above, if the element number is 1, it indicates that a certain bit of a register is occupied. The number of bit biases can be set, with optional values ranging from 1 to 16.

When the element number of the bit type register is greater than 1, i.e. the bit variable array, it is not allowed to set the bit bias and perform function binding.
When the input of the element number in a bit type register is greater than 1, the bias option is automatically hidden, and the offset is set to 1.

About byte type registers:

①	Element Number.
②	Byte address.

As shown in the figure above, if the element number is 1, it indicates that certain 8 bits of a register are occupied, and the byte address can be set, with optional values range of LSB (1-8) and MSB (9-16).
When the element number of the byte type register is greater than 1, i.e., the byte variable array, the byte address is not allowed to be set, with a default of LSB.
Note: It is not allowed to enable the program through the register when it is equipped with the pause function or system IO has not been reset.

10.6.4 Register function code

10.6.4.1 Read-only function code

The read-only function codes are mostly used for control signals, which are usually sent by external devices to the robot to indicate its actions. For robots, these registers are read-only. Currently supported control signals:

Function Code Name	Supported Binding Types	Function
Blank	N/A	No function, custom input.
ctrl_clear_alarm	bit/bool/byte/int16	Clear servo alarms. Posedge (0→1): Clear alarm; set to 0: Reset.
ctrl_estop_reset	bit/bool/byte/int16	Emergency stop reset. Posedge (0→1): Estop reset; set to 0: Reset.
ctrl_jjwc_A	bit/bool/byte/int16	The trigger type is pulse trigger, which is active at a high level. When the signal 0->1, the robot stops. After triggering by this signal, the robot cannot continue to run, and can only run again after pptomain, pptofunc, or pptocurs. In addition, the sta_jjwc_B signal is set to 1 (high level). When the signal 1-> 0, the sta_jjwc_B signal is set to 0 (low level).
ctrl_motor_off	bit/bool/byte/int16	Execution of power off. Posedge (0→1): Power off; set to 0: Reset
ctrl_motor_on	bit/bool/byte/int16	Execution of power on. Posedge (0→1): Power on; set to 0: Reset
ctrl_motor_on_off	bit/bool/byte/int16	Motor power on or off: 1, power on; 0, power off.
ctrl_motoron_pptomain_start	bit/bool/byte/int16	Power on, Pointer to main, and start program in order. Posedge (0→1): Power off; set to 0: Reset. After triggering the function code, if the teach pendant displays the alarm "Program not synchronized to controller, startup failed", synchronize the program and retrigger the function code.
ctrl_motoron_start	bit/bool/byte/int16	Power on and start program in order. Posedge (0→1): Power off; set to 0: Reset. After triggering the function code, if the teach pendant displays the alarm "Program not synchronized to controller, startup failed", synchronize the program and retrigger the function code.
ctrl_pause_motoroff	bit/bool/byte/int16	Pause program and execution of power off. Posedge (0→1): Power off; set to 0: Reset.
ctrl_pptomain	bit/bool/byte/int16	Program pointer to main. Posedge (0→1): Power off; set to 0: Reset.
ctrl_program_start	bool/byte/int16	Start the RL program. Posedge (0→1): Power off; set to 0: Reset. After triggering the function code, if the teach pendant displays the alarm "Program not synchronized to controller, startup failed", synchronize the program and retrigger the function code.
ctrl_program_start_stop	bit/bool/byte/int16	Program running/stop. Set to 1: Program run; set to 0: Program stop
ctrl_program_stop	bit/bool/byte/int16	Stop the RL program. Posedge (0→1): Power off; set to 0: Reset.
ctrl_set_program_speed	bit/bool/byte/int16	Set program running rate. Input value represents the running rate. Example: Input "10" sets the rate to 10
ctrl_soft_estop	bit/bool/int16	Control the robot’s soft emergency stop, 1: not trigger the soft emergency stop; 0: trigger soft emergency stop.
ctrl_switch_auto_motoron	bit/int16/byte/bool	Switch to Automatic mode first, then power on. Posedge (0→1): Power off; set to 0: Reset.
ctrl_switch_operation_auto	bool/byte/int16	Switch to Automatic mode. Posedge (0→1): Switch to Automatic mode; set to 0: Reset.
ctrl_switch_operation_auto_manu	bit/bool/byte/int16	Switch between Automatic mode and Manual mode, set to 1: Automatic mode; set to 0: Manual mode.
ctrl_switch_operation_manu	bit/bool/byte/int16	Switch to the Manual mode. Posedge (0→1): Switch to Manual mode; set to 0: Reset.
enable_safe_region01~enable_safe_region10	bit/bool/byte/int16	Corresponding safe region enabled. Posedge (0→1): Enable safe region; set to 0: Reset
ext_cmd_set	bit/bool/int16	Remote control function: issue commands. See "Remote Control".
ext_request_data	int16 array	Remote control function: command function code. Array, register with a fixed size of 8.
ext_reset	bit/bool/int16	Remote control function: overall function reset. See "Remote Control".
ext_resp_get	bit/bool/int16	Remote control function: Acknowledge and clear the previous command response.
ctrl_estop_reset_and_clear_alarm	bit/bool/byte/int16	Reset E-stop state and clear alarm. Posedge (0→1): Reset E-stop state and clear alarm; set to 0: Reset.
ctrl_reduced_mode	bit/bool/byte/int16	Trigger the robot’s reduced mode. Posedge (0→1): Trigger the robot’s reduced mode; set to 0: Reset.
ctrl_reset_cursor_state	bit/bool/byte/int16	Reset the lookahead pointer change mark (sta_cursor_ste). Posedge (0→1): Reset sta_cursor_state to 0
ctrl_change_prog	int16/int32	Trigger the project switch; the input value is the ID value in the project switch list.

Description: All system inputs of the above system registers are pulse-triggered. To ensure that the xCore system receives external commands correctly, please ensure that the pulse width of the external input is not less than 60 milliseconds.

	Preconditions/Precautions
Motor on	The robot is in automatic mode; The robot has no alarm;
Motor off
Program startup	The robot is in automatic mode; There is robot program pointer; The robot is powered on; The robot has no alarm;
Program pause	The external device sends a program pause through a register (without power-off);
Emergency stop handling	Trigger the emergency stop signal or external emergency stop sequence logic. (Note: After the emergency stop is pressed, the program will stop, the motor will be powered off, and the pointer will be lost, so it is required to clear the alarm, power on, and move the program pointer to main.)
Whole process for robot startup	Operation sequence: (1) Switch the robot to manual mode; (2) Clear alarm (clear servo alarm or controller error alarm). (3) Power on the motor; (4) Move the program pointer to main. (The larger the project, the longer time the command pptomain takes. It is recommended to reserve 2s for execution, and send the program startup signal after the command is completed.); (5) Start the program;

10.6.4.2 Write-only function code

The write-only function codes are mostly used for state signals, which refer to the signals sent by the robot to the outside world for feeding back the robot’s state, including the power-on state, program state, etc. For robots, a register being write-only indicates that it can be bound to the state signals. The following state signals are currently supported.

Function Code Name	Supported Binding Types	Function
Blank		No function, custom output.
ext_error_code	int16	Remote control function: error code.
ext_resp_set	bit/bool/int16	Remote control function: response after command execution.
ext_response_data	int16 array	Remote control function: data to be fed back. Array, register with a fixed size of 8.
sta_alarm	bit/bool/byte/int16	Servo alarm status, 1: servo alarm; 0: no alarm.
sta_board_DI0~sta_board_DI3	bit/bool/byte/int16	Real-time output of signal state of self-developed IO board and Solidot IO board.
sta_board_DO0~sta_board_DO3	bit/bool/byte/int16	Real-time output of signal state of self-developed IO board and Solidot IO board.
sta_collision	bit/bool/byte/int16	Collision detection status, 1: collision detected; 0: no collision.
sta_collision_alarm	bit/bool/byte/int16	Collision detection alarm, 1: collision detected; 0: no collision; alarm cleared.
sta_collision_open	bit/bool/byte/int16	Open state of collision detection. 1: Collision detection enabled; 0: Collision detection disabled.
sta_controller_is_running	bit/bool/byte/int16	Running signal of controller: 1: running controller; 0: controller not running.
sta_encoder_low_battery	bit/bool/byte/int16	Encoder low voltage alarm status or battery maintenance due date alarm
sta_grease	bit/bool/byte/int16	Grease replacement alarm status
sta_routine_maintenance	bit/bool/byte/int16	Routine maintenance alarm status
sta_error_code	int16	The robot reports an error code, which differs from the error code value in the robot log by 30000. For example, the error code 50002 for the robot log "out of range of motion" was obtained through sta_errorCode as 20002.
sta_estop	bit/bool/byte/int16	EStop state This value is affected by the emergency stop trigger level type setting. When it is set to high level, 1: the current emergency stop is triggered; 0: normal. When it is set to low level, 0: the current emergency stop is triggered; 1: normal.
sta_heartbeat	bit/bool/byte/int16	Heartbeat signal, write-only. Click "Settings −> Controller Settings" and set the heartbeat cycle.
sta_home	bit/bool/byte/int16	Whether each joint of the robot is at the Home point, 1: at the Home point; 0: not at Home point.
sta_jjwc_B	bit/bool/byte/int16	Real-time state output. Trigger action: passive trigger. When the ctrl_jjwc_A signal is 0->1, the sta_jjwc_B signal is set to 1. When the ctrl_jjwc_A signal is 1->0, the sta_jjwc_B signal is set to 0.
sta_motor	bit/bool/byte/int16	Motor power on status, 1: powered on; 0: not powered on.
sta_operation_mode	bit/bool/byte/int16	Current operating mode, 1: Automatic mode; 0: Manual mode.
sta_program	bit/bool/byte/int16	Whether it is currently in the program running state, 1: program running; 0: free.
sta_program_full	byte/int16	RL pause state, 0: initialization state; 1: RL running; 2: HMI pause; 3: System IO pause; 4: Register function code pause; 5: External communication pause; 6: SDK pause; 7: Pause command pause; 10: Emergency stop; 11: Safety door; 12: Pause for other factors.
sta_program_not_run	bool/byte/int16	Non-execution of RL program, 1: non-execution of RL program; 0: execution of RL program.
sta_program_reset	bool/byte/int16	Program reset success signal; the output is 1 when the program pointer is on the first line of the main function, otherwise, the output is 0.
sta_program_speed	int16	Query the current program running speed (in percentage terms).
sta_robot_is_busy	bit/bool/byte/int16	Whether the current robot is performing time-consuming operations such as pptomain, 1: performing; 0: free.
sta_robot_moving	bit/bool/byte/int16	Whether the robot is in motion, 1: the robot is in motion; 0: the robot is stationary. Only detect the robot’s motion status when detecting motion commands and Jog in the RL program. (Note: In identification, dragging, force control, and drag playback, even if the robot is in motion, the output is still stationary.)
sta_safe_door	bit/bool/byte/int16	The register-bound state signal output is valid when the safety gate is opened, but invalid when the safety gate is closed (active at high level, but inactive at low level).
sta_safe_jnt_pos1~sta_safe_jnt_pos8	bool/byte/int16	Safety position triggering state, 1: safety position reached; 0: safety position unreached.
sta_safe_region01~sta_safe_region10	bool/byte/int16	Safe region triggering state. 1: Safe region triggered.
sta_soft_estop	bit/bool/int16	Output of soft emergency stop status. This status value is affected by the emergency stop trigger level type setting. When it is set to high level, the status value is 1 when triggering a soft emergency stop, and 0 when not triggered; when it is set to low level, the status value is 0 when triggering a soft emergency stop, and 1 when not triggered.
sta_cart_pose	float array	Query the current value of the robot tool TCP relative to the world frame. Requirements for bound registers: float array, size - 7.
sta_cart_vel	float array	Cartesian speed of robot.
sta_jnt_pose	float array	Query the current joint angle of the robot. Requirements for bound registers: float array, size - 8.
sta_jnt_trq	float array	Query the current joint torque of the robot. Requirements for bound registers: float array, size - 8, unit: N.m.
sta_jnt_vel	float array	Query the current joint velocity of the robot. Requirements for bound registers: float array, size - 8, unit: rad/s.
sta_tcp_pose	float array	Value of the robot tool TCP relative to the world frame. Requirements for bound registers: float array, size - 7.
sta_tcp_vel	float array	Velocity of the robot TCP. Requirements for bound registers: float array, size - 7.
sta_tcp_vel_mag	float	Robot TCP resultant linear velocity.
sta_ext_estop	Bool/byte/int16	External estop state 1: external emergency stop state; 0: non-external emergency stop state The safeboard is a mini board, and the firmware version is not less than 1.0.8.7
sta_ext_jnt_pose	float array	Query the external axis position For different external axes, the physical meaning of the function code return data varies. Currently, only rails are supported, and for rails, the return data represents the pose of the rail relative to the calibration zero point.
sta_hand_estop	bool/byte/int16	Handheld estop state 1: external emergency stop state; 0: non-external emergency stop state The safeboard is a mini board, and the firmware version is not less than 1.0.8.7
sta_sys_stop_di	bit/bool/byte/int16	Output the value of the signal bound to the system pause. "sta_sys_stop_di" outputs 1 when either the "Pause Program" or "Pause Program 1" signal is triggered, and outputs 0 when neither of the two signals is triggered.
sta_reduced_mode	bit/bool/byte/int16	Whether the robot is currently operating in reduced mode. 1: In reduced mode.
sta_on_path	bit/bool/byte/int16	Whether the robot’s current position is on the preset trajectory 1: Yes, e.g., during program execution or when paused, the robot remains on the preset path. 0: No, e.g., path deviation during JOG, clicking pptomain, reloading the project, or after pptocurs repositioning. Notes: 1. When the emergency stop button is pressed, due to servo oscillation and power-off jitter, the controller determines that the robot has deviated from the preset trajectory, and therefore the sta_on_path function code value is 0. 2. When the safety gate is opened and a safety stop is triggered, the sta_on_path function code value becomes 0.
sta_near_path	bit/bool/byte/int16	Whether the robot’s current position is near the preset trajectory 1: Yes, if both the path deviation sphere radius and path deviation sphere angle conditions are satisfied. 0: No, for all other cases. The path deviation sphere radius and path deviation sphere angle parameters are configured in Settings → Controller settings → Advanced settings. When both the path deviation sphere radius and path deviation sphere angle are set to 0, this function code is equivalent to sta_on_path
sta_task_state	int16/int32/byte	Robot task status output 0: Ready 1: JOG 2: Load identification 3: Dynamic identification 4: Enable drag 5: Program running 6: demo 7: RCI 8: Debugging 9: Friction identification
sta_drag	int16/int32/byte/bit/bool	Whether the robot is in drag status (only applicable for collaborative models) 0: Not in drag status 1: In drag status
sta_drag_button1	int16/int32/byte/bit/bool	Status of robot drag button 1 (only applicable for collaborative models) 0: Button not pressed 1: Button pressed
sta_drag_button2	int16/int32/byte/bit/bool	Status of robot drag button 1 (only applicable to non-SR collaborative models) (for CR models with only one button, pressing either sta_drag_button1 or sta_drag_button2 will output 1) 0: Button not pressed 1: Button pressed
sta_cursor_state	bit/bool/byte/int16	Whether the lookahead pointer position changes 1 when the lookahead pointer position changes after pptoline/pptofunc is performed 0 when pptoline/pptofunc is not performed or after using ctrl_reset_cursor_state to reset
sta_tcp_ref_base_vel_mag	float	Resultant linear velocity of the TCP relative to the robot base frame, in mm/s;
sta_tcp_ref_world_vel_mag	float	Resultant linear velocity of the TCP relative to the robot world frame, in mm/s;
sta_tcp_ref_base_pose	float array	Pose of the TCP relative to the robot base frame, array length 7 (position in mm, quaternion);
sta_tcp_ref_world_pose	float array	Pose of the TCP relative to the robot world frame, array length: 7 (position in mm, quaternion);
sta_robot_jnt_pos	float array	Robot joint position, array length: 7, in rad or mm;
sta_robot_jnt_vel	float array	Robot joint velocity, array length: 7, in rad/s or mm/s;
sta_robot_jnt_trq	float array	Robot joint torque, array length: 7, in N.mm;
sta_ext_jnt_pos	float array	Additional axis joint position, array length: 6, in rad or mm;
sta_ext_jnt_vel	float array	Additional axis joint velocity, array length: 6, in rad/s or mm/s;
sta_ext_jnt_trq	float array	Additional axis joint torque, array length: 7, in N.mm;

10.6.5 RL read/write register example

The control system reads and modifies the registers in two ways: command or assignment.
Command provides WriteRegByName and ReadRegByName. Assignment is more intuitive and simple, using the operator "=".

10.6.5.1 Command

WriteRegByName(modbus_reg[index], rl_symbol)
Modbus-reg is the register name configured in "Communication" -> "Register", which can be offset at the first address of the corresponding register using [index]. The index range is [1，maximum register size], and the default index = 1.

The data in the control system can be output to its bound devices through registers.
For example, "int rl_value" is defined in the control system. If you want to output it to an external device, you can specify a register, such as the first register of "mtcp_wo_i", and add a WriteRegByName command in the RL language. The value will be sent to the external device associated with "mtcp _ wo _ i".

ReadRegByName(modbus_reg[index], rl_symbol)
This command is similar to WriteRegByName, which updates the value of a register to the RL program variable. For example, it is used to control the execution process and motion parameters of RL programs.

10.6.5.2 Assignment

Directly use the operator "=". For example, "mtcp_wo_i[1] = 1" is to update the value of the first element of the register mtcp_wo_i to 1. Similarly, "a = mtcp_wo_i[1]" is to update the value of the first element of the register mtcp_wo_i to the variable a of the RL program.

10.6.6 Register remote control

Remote control is a combination function performed with registers of 7 different functions. It is used to achieve complex business logic interactions in a specific sequence. External devices can fulfill functions such as robot Jog, updating point position, obtaining robot position and status, etc. via the remote control function.

Register function
External devices use four types of registers to control the robot. These registers are read-only for the robot.

Function Code Name	Attribute	Type	Length	Function
ext_cmd_set	Read-only	int16/bool/bit	1	Issuing commands: 1. Set ext_cmd_set to 1 to send a request for command execution. The request is responded only when ext_cmd_set is set to 1. 2. To avoid misoperation, be sure to set the command data to the data area before execution. (The command data is temporarily stored in the cache and is responded only when ext_cmd_set is 1). 3. After the command is executed, clear ext_cmd_set (set it to 0).
ext_reset	Read-only	int16/bool/bit	1	Function reset: 1. The signal is used to enable the remote control function. Always keep the register state at 1 when using the function. 2. The function stops when the register state is 0. 3. The signal is also used for commands to reset or interrupt the action when the interface function is abnormal.
ext_resp_get	Read-only	int16/bool/bit	1	Acknowledge and clear the previous command response, and reset ext_resp_set to 0.
ext_request_data	Read-only	int16	8	Command function code. Array, register with a fixed size of 8. For details, refer to the introduction in the function code section.

External devices use three types of registers to obtain the robot status. These registers are write-only for the robot.

Function Code Name	Attribute	Type	Length	Function
ext_error_code	Write-only	int16	1	Remote control function: error code.
ext_resp_set	Write-only	int16/bool/bit	1	After responding to the control command, the robot sets the register to 1, indicating that the command is executed.
ext_response_data	Write-only	int16	8	Remote control function: data to be fed back. Array, register with a fixed size of 8.

10.6.6.1 Procedure

The combined use of 7 types of registers and control flow are shown in the figure below.

10.6.6.2 Command format

Commands and responses are implemented with 8 registers individually.

The command signal ext_request_data (eight registers occupied: reg0 - reg7) is used to specify the data area of the commands and relevant parameters. A command consists of multiple characters:
1) Character: a 16-bit register.
2) Command format: a command consists of up to 8 characters and varies with the command. The shortest command consists of 1 character.

Command No.

Command No. 1

Command No. 2

……

Command No. 7

The response signal ext_response_data (eight registers occupied: reg0 - reg7) is used to obtain the data area of the responses. A response consists of multiple characters:

Command No.

Response No. 1

Response No. 2

……

Response No. 7

1) Character: a 16-bit register.
2) Response format: a response consists of up to 8 characters. and varies with the received command. The shortest response consists of 1 character. However, an abnormal response always occupies 3 characters.

The available command numbers are shown in the table below:

Command Type	Explanation	Command Code	Command Length
			Command	Response
JOG	Set Jog space	1	2	3
	Obtain Jog space	2	1	4
	Set Jog speed	3	2	3
	Obtain Jog speed	4	1	4
	Set Jog step length	5	2	3
	Obtain Jog step length	6	1	4
	Start Jog	7	4	2
	Stop Jog (without parameters)	8	1	2
	Update point position	9	2	2
	Move to point position	10	2	2
Set information	Set tools	11	2	3
	Obtain current tool id	12	1	4
	Set work object	13	2	3
	Obtain current work object id	14	1	4

10.6.6.3 Command description

(1) Set Jog space:

Command/Reply	Command Code	Parameter 1	Parameter 2
Set Jog space	1	Frame: 1: Joint space 2: World frame 3: Flange frame 4: Base frame 5: Tool frame 6: Work object frame	N/A
Reply	1	Result: 0 - Succeed; 1 - Fail.	Error code

(2) Obtain Jog space:

Command	Command Code	Parameter 1	Parameter 2	Parameter 3
Obtain Jog space	2	N/A	N/A	N/A
Reply	2	Result: 0 - Succeed; 1 - Fail	Error code	Frame: 1: Joint space 2: World frame 3: Flange frame 4: Base frame 5: Tool frame 6: Work object frame

(3) Set Jog speed:

Command/Reply	Command Code	Parameter 1	Parameter 2
Set Jog speed	3	Jog speed (1−100)	N/A
Reply	3	Result: 0 - Succeed; 1 - Fail	Error code

(4) Obtain Jog speed:

Command	Command Code	Parameter 1	Parameter 2	Parameter 3
Obtain Jog speed	4	N/A	N/A	N/A
Reply	4	Result: 0 - Succeed; 1 - Fail	Error code	Jog speed (1−100)

(5) Set Jog step length:

Command/Reply	Command Code	Parameter 1	Parameter 2
Set Jog step length	5	1: Continuous 2: 10 mm step length 3: 1 mm step length 4: 0.1 mm step length 5: 0.01 mm step length	N/A
Reply	5	Result: 0 - Succeed; 1 - Fail	Error code

(6) Obtain Jog step length:

Command	Command Code	Parameter 1	Parameter 2	Parameter 3
Obtain Jog step length	6	N/A	N/A	N/A
Reply	6	Result: 0 - Succeed; 1 - Fail	Error code	1: Continuous 2: 10 mm step length 3: 1 mm step length 4: 0.1 mm step length 5: 0.01 mm step length

(7) Start Jog:
The command is dependent on command code 1: set Jog space. In joint space, the value of parameter 1 represents the joint number (J1−J7: 1 for J1, …​, 7 for J7); in Cartesian space, it represents the (x, y, z, a, b, c, and elb) number (1 for x, …​, 7 for elb).

Command/Reply	Command Code	Parameter 1	Parameter 2
Start Jog	7	Operation mode: Joint space − representing joint number; Cartesian space − representing (x, y, z, a, b, c, and elb)	Jog direction: 1: negative 2: positive
Reply	7	Result: 0 - Succeed; 1 - Fail	Error code

(8) Stop Jog:

Command/Reply	Command Code	Parameter 1
Stop Jog	8	N/A
Reply	8	Result: 0 - Succeed; 1 - Fail.

(9) Update point position:

Command/Reply	Command Code	Parameter 1	Parameter 2
Update point position	9	Number in the RL project point list	N/A
Reply	9	Result: 0 - Succeed; 1 - Fail	Error code

(10) Move to point position:

Command/Reply	Command Code	Parameter 1	Parameter 2
Move to point position	10	Motion mode: 1: MoveAbsj; 2: MoveJ; 3: MoveL	Number in the RL project point list
Reply	10	Result: 0 - Succeed; 1 - Fail	Error code

(11) Set current tool:

Command/Reply	Command Code	Parameter 1	Parameter 2
Set current tools	11	Number in the RL project tool list	N/A
Reply	11	Result: 0 - Succeed; 1 - Fail	Error code

(12) Obtain current tool id:

Command/Reply	Command Code	Parameter 1	Parameter 2	Parameter 3
Obtain current tool id	12	N/A	N/A	N/A
Reply	12	Result: 0 - Succeed; 1 - Fail	Error code	Current tool id

(13) Set current work object:

Command/Reply	Command Code	Parameter 1	Parameter 2
Set current work object	13	Number in the RL project work object list	N/A
Reply	13	Result: 0 - Succeed; 1 - Fail	Error code

(14) Obtain current work object id:

Command/Reply	Command Code	Parameter 1	Parameter 2	Parameter 3
Obtain current work object id	14	N/A	N/A	N/A
Reply	14	Result: 0 - Succeed; 1 - Fail	Error code	Current work object id

10.6.6.4 Error code

During command configuration, parameter errors, robot status mismatch, or other conditions may lead to configuration failure. Error codes can be used to check the robot’s problems in this case.

The control system has three types of error codes:
ext_response_data: error code of command execution results.
ext_error_code: The command cannot be executed, for example, the robot is busy, or the remote control flag bit is incorrect, etc.
sta_error_code: the robot error code. Read the register when an error occurs during Jog.

Normally, the error code should be used according to the following steps:
After sending the execution command (ext_cmd_set=1), first read ext_error_code. If there is no error code, read the return value of ext_response_data. If the return value is not zero, read the error code of ext_response_data.
For motion operations (Jog and move to point position), if the above return values are both 0, read sta_error_code to see if there is a stop in the motion caused by an error (such as singularity and overrun).

ext_error_code description:

Error code	Meaning	Remarks
01	Unsupported command
02	Invalid parameter
03	Incorrect control flag bit	Check whether ext_resp_set is 0 or 1.
04	Robot busy	The robot is executing a command and is forbidden to respond to others.
05	No corresponding number found	Tool, point position, and work object id
06	Unmatched point type and motion type	The point type does not match the motion type for the "Move to point position" command. For example, only the MoveAbsJ command can be used for joint space points, and only the MoveJ or MoveL command can be used for Cartesian space points.
07	Unmatched number of axes entered and model
11	Incorrect Manual/Auto Mode
12	Incorrect robot status. Please check if the robot is in Jog Mode.	The robot can only be jogged in Jog Mode and can not be jogged in non-Jog Mode such as Drag Mode.
13	Incorrect power-on status	The robot can only be jogged when powered on.
14	The robot is in non-position mode and can not be jogged	Similar to error code 12.
15	Report algorithm error when unable to start Jog	The error is reported when the robot cannot be jogged for various reasons.
20	Encounter singularity
21	Moved to target point	If the robot moves to a point it has reached earlier, an error occurs.

10.6.7 Register import and export

The register import and export function can quickly copy register configurations from one robot to another robot without reconfiguring registers.

10.6.7.1 Register export

On the register page, click the button in the bottom left corner to enter the register export interface

①	Register export target file (including path).
②	Register export selection list.
③	Register export operation button.
④	Filter box, supporting entire and partial export

Export steps: First, enter or select the register export target file path in ①, then check the register to be exported in the register list in ②, and finally click the "Finish" button in ③ to execute the export. The exported register file can be generated under the corresponding path in ①.

10.6.7.2 Register import

On the register page, click the button in the bottom left corner to enter the register import interface

①	Register import file.
②	Register import options, which are strategies for handling conflicting items.
③	Register import selection entry.
④	Register import operation button.

Import steps: First, select the register file to be imported in ①, then set the conflicting register strategy in ②, then select the register to be imported in ③, and finally click the "Next Step" in ④ to perform the import to import the selected register to the local machine.

10.6.7.3 Conflict checking during register import

The same device and register properties (read and write) cannot have the same register address. If the same, if the import option is set to not import, the original register will prevail, and conflicting registers will not be imported; if the import option is set to auto replace, the newly imported register will prevail, and the conflicting register will be overwritten. A pop-up window will prompt the user to choose whether to replace the current register.
When creating the 7 registers starting with ext: ext_cmd_set, ext_resp_set, ext_resp_get, ext_reset, ext_response_data, ext_request_data, and ext_error_code, if the register has been bound by the register address, these addresses cannot be bound by another register. When importing the above 7 registers, if the function codes have already been bound in the HMI, and the newly imported register list also involves such function codes, the newly imported ones will prevail, and the original conflicting register will be overwritten. A pop-up window will prompt the user to choose whether to replace the current register.