4.12 BasScript Program Class

Overview

BasScript lets you construct BAS instruction sequences for the teach pendant in a structured way from the host PC, covering motion, logic, program calls, communication, vision, and Modbus commands.
By chaining BasScript.* method calls in Python you generate a script flow identical to that on the teach pendant, making it easy to automatically create, edit, or reuse complex programs.

Constructor

Method Name	BasScript( name )
Description	Corresponds to the instructions in the teaching pendant program editor
Request Parameters	name : Script name
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): v7.6.0.0+
Notes	All methods under BasScript follow the same compatible robot software versions as this class

4.12.1 Motion to Point Instruction

Method Name	BasScript.move_joint( pose_type , pose_index , speed_type , speed_value , smooth_type , smooth_distance , extra_param )
Description	Corresponds to the MoveJoint instruction in the teaching pendant program writing
Request Parameters	pose_type : Pose type pose_index : Pose index speed_type : Speed type speed_value : Speed value smooth_type : Smooth type smooth_distance : Smooth distance extra_param : Extra parameter
Return Value	StatusCodeEnum: Function execution result

4.12.2 Linear Motion to Point Instruction

Method Name	BasScript.move_line( pose_type , pose_index , speed_type , speed_value , smooth_type , smooth_distance , extra_param )
Description	Corresponds to the MoveLine instruction in the teaching pendant program writing
Request Parameters	pose_type : Pose type pose_index : Pose index speed_type : Speed type speed_value : Speed value smooth_type : Smooth type smooth_distance : Smooth distance extra_param : Extra parameter
Return Value	StatusCodeEnum: Function execution result

4.12.3 Arc Motion to Point Instruction

Method Name	BasScript.move_circle( pose_type1 , pose_index1 , pose_type2 , pose_index2 , speed_type , speed_value , smooth_type , smooth_distance , extra_param )
Description	Corresponds to the MoveCircle instruction in the teaching pendant program writing
Request Parameters	pose_type1 : First pose type pose_index1 : First pose index pose_type2 : Second pose type pose_index2 : Second pose index speed_type : Speed type speed_value : Speed value smooth_type : Smooth type smooth_distance : Smooth distance extra_param : Extra parameter
Return Value	StatusCodeEnum: Function execution result

4.12.4 If Conditional Instruction

Method Name	BasScript.logi_if( param1 , index , param2 , value , operator )
Description	Corresponds to the IF logical statement in the teaching pendant program writing
Request Parameters	param1 : First parameter index : Index param2 : Second parameter value : Value operator : Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.5 ElseIf Conditional Branch Instruction

Method Name	BasScript.logi_else_if( param1 , index , param2 , value , operator )
Description	Corresponds to the ELIF logical statement in the teaching pendant program writing
Request Parameters	param1 : First parameter index : Index param2 : Second parameter value : Value operator : Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.6 Else Instruction

Method Name	BasScript.logi_else()
Description	Corresponds to the ELSE logical statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.7 End Conditional Instruction

Method Name	BasScript.logi_end_if()
Description	Corresponds to the ENDIF logical statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.8 While Loop Instruction

Method Name	BasScript.logi_while( param1 , index , param2 , value , operator )
Description	Corresponds to the WHILE logical statement in the teaching pendant program writing
Request Parameters	param1 : First parameter index : Index param2 : Second parameter value : Value operator : Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.9 End Loop Instruction

Method Name	BasScript.logi_end_while()
Description	Corresponds to the ENDWHILE logical statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.10 Switch Multi-branch Selection Instruction

Method Name	BasScript.logi_switch( param , index )
Description	Corresponds to the SWITCH logical statement in the teaching pendant program writing
Request Parameters	param : Parameter index : Index
Return Value	StatusCodeEnum: Function execution result

4.12.11 Case Branch Instruction

Method Name	BasScript.logi_case( param , value )
Description	Corresponds to the CASE logical statement in the teaching pendant program writing
Request Parameters	param : Parameter value : Value
Return Value	StatusCodeEnum: Function execution result

4.12.12 Default Branch Instruction

Method Name	BasScript.logi_default()
Description	Corresponds to the DEFAULT logical statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.13 End Multi-branch Selection Instruction

Method Name	BasScript.logi_end_switch()
Description	Corresponds to the ENDSWITCH logical statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.14 Goto Jump Instruction

Method Name	BasScript.logi_goto( index )
Description	Corresponds to the GOTO jump statement in the teaching pendant program writing
Request Parameters	index : Index of the target label
Return Value	StatusCodeEnum: Function execution result

4.12.15 Label Instruction

Method Name	BasScript.logi_label( index )
Description	Corresponds to the LABEL label statement in the teaching pendant program writing
Request Parameters	index : Label index
Return Value	StatusCodeEnum: Function execution result

4.12.16 Skip Condition Instruction

Method Name	BasScript.logi_skip_condition( param1 , index , param2 , value , operator )
Description	Corresponds to the SKIP CONDITION jump statement in the teaching pendant program writing
Request Parameters	param1 : First parameter index : Index param2 : Second parameter value : Value operator : Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.17 Break Loop Instruction

Method Name	BasScript.logi_break()
Description	Corresponds to the BREAK statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.18 Skip Loop Instruction

Method Name	BasScript.logi_continue()
Description	Corresponds to the CONTINUE statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.19 Assignment Instruction

Method Name	BasScript.assign_value( param1 , index , param2 , value , opt_index , opt_value )
Description	Corresponds to the ASSIGN assignment statement in the teaching pendant program writing
Request Parameters	param1 : First parameter index : Index param2 : Second parameter value : Value opt_index : Optional index opt_value : Optional value
Return Value	StatusCodeEnum: Function execution result

4.12.20 Wait Condition Instruction

Method Name	BasScript.wait( param1 , index , param2 , value , operator )
Description	Corresponds to the WAIT COND wait condition statement in the teaching pendant program writing
Request Parameters	param1 : First parameter index : Index param2 : Second parameter value : Value operator : Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.21 Wait Time Instruction

Method Name	BasScript.wait_time( param , value )
Description	Corresponds to the WAIT TIME wait time statement in the teaching pendant program writing
Request Parameters	param : Parameter value : Time value
Return Value	StatusCodeEnum: Function execution result

4.12.22 Pause Instruction

Method Name	BasScript.pause()
Description	Corresponds to the PAUSE pause statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.23 Abort Instruction

Method Name	BasScript.abort()
Description	Corresponds to the ABORT terminate statement in the teaching pendant program writing
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.24 Call Synchronous Program Call Instruction

Method Name	BasScript.call( name )
Description	Corresponds to the CALL synchronous program call in the teaching pendant program writing
Request Parameters	name : Program name
Return Value	StatusCodeEnum: Function execution result

4.12.25 Run Asynchronous Program Call Instruction

Method Name	BasScript.run( name )
Description	Corresponds to the RUN asynchronous program call in the teaching pendant program writing
Request Parameters	name : Program name
Return Value	StatusCodeEnum: Function execution result

4.12.26 Load Program Instruction

Method Name	BasScript.load( param , value )
Description	Corresponds to the LOAD load program in the teaching pendant program writing
Request Parameters	param : Parameter value : Value
Return Value	StatusCodeEnum: Function execution result

4.12.27 Unload Program Instruction

Method Name	BasScript.unload( param , value )
Description	Corresponds to the UNLOAD unload program in the teaching pendant program writing
Request Parameters	param : Parameter value : Value
Return Value	StatusCodeEnum: Function execution result

4.12.28 Execute Program Instruction

Method Name	BasScript.exec( param , value )
Description	Corresponds to the EXEC execute program in the teaching pendant program writing
Request Parameters	param : Parameter value : Value
Return Value	StatusCodeEnum: Function execution result

4.12.29 Open Socket Connection Instruction

Method Name	BasScript.socket_open( index )
Description	Corresponds to the SOCKET OPEN open socket connection in the teaching pendant program writing
Request Parameters	index : SK register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.30 Close Socket Connection Instruction

Method Name	BasScript.socket_close( index )
Description	Corresponds to the SOCKET CLOSE close socket connection in the teaching pendant program writing
Request Parameters	index : SK register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.31 Connect Socket Instruction

Method Name	BasScript.socket_connect( index )
Description	Corresponds to the SOCKET CONNECT connect socket in the teaching pendant program writing
Request Parameters	index : SK register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.32 Send Socket Data Instruction

Method Name	BasScript.socket_send( index , msg_type , value )
Description	Corresponds to the SOCKET SEND send data in the teaching pendant program writing
Request Parameters	index : SK register sequence number msg_type : Message type value : Message content or sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.33 Receive Socket Data Instruction

Method Name	BasScript.socket_recv( index , msg_length , msg_type , value )
Description	Corresponds to the SOCKET RECV receive data in the teaching pendant program writing
Request Parameters	index : SK register sequence number msg_length : Message length msg_type : Message type value : Message content or sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.34 Read Modbus Holding Register Instruction

Method Name	BasScript.modbus_read_MH( index , id , address , length , r_index )
Description	Corresponds to the READ_MH read Modbus holding register in the teaching pendant program writing
Request Parameters	index : Channel sequence number id : Modbus ID address : Register address length : Register length r_index : R register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.35 Read Modbus Input Register Instruction

Method Name	BasScript.modbus_read_MI( index , id , address , length , r_index )
Description	Corresponds to the READ_MI read Modbus input register in the teaching pendant program writing
Request Parameters	index : Channel sequence number id : Modbus ID address : Register address length : Register length r_index : R register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.36 Write Modbus Holding Register Instruction

Method Name	BasScript.modbus_write_MH( index , id , address , length , value_type , value )
Description	Corresponds to the WRITE_MH write Modbus holding register in the teaching pendant program writing
Request Parameters	index : Channel sequence number id : Modbus ID address : Register address length : Register length value_type : Value type value : Value or index
Return Value	StatusCodeEnum: Function execution result

4.12.37 Find Vision Program Instruction

Method Name	BasScript.vision_find( name )
Description	Corresponds to the VISION FIND find vision program in the teaching pendant program writing
Request Parameters	name : Vision program name
Return Value	StatusCodeEnum: Function execution result

4.12.38 Get Vision Program Offset Instruction

Method Name	BasScript.vision_get_offset( name , index , label_index )
Description	Corresponds to the VISION GET OFFSET get vision program offset in the teaching pendant program writing
Request Parameters	name : Vision program name index : Vision register index label_index : Label index
Return Value	StatusCodeEnum: Function execution result

4.12.39 Get Vision Program Result Instruction

Method Name	BasScript.vision_get_quantity( name , index )
Description	Corresponds to the VISION GET QUANTITY get vision program result in the teaching pendant program writing
Request Parameters	name : Vision program name index : R register index
Return Value	StatusCodeEnum: Function execution result

4.12.40 Set Parameter Instruction

Method Name	BasScript.set_param( type , value_type , value )
Description	Corresponds to the SET PARAM set parameter in the teaching pendant program writing
Request Parameters	type : Parameter type value_type : Value type value : Value
Return Value	StatusCodeEnum: Function execution result

4.12.41 Extra Parameter Class

Method Name	ExtraParam()
Description	Extra parameter class, used to construct complex robot control commands
Request Parameters	None
Return Value	None

4.12.41.1 Set Acceleration

Method Name	ExtraParam.acceleration( value )
Description	Set acceleration, range is 1~120
Request Parameters	value : Acceleration value (float)
Return Value	None

4.12.41.2 Set RTCP Parameter

Method Name	ExtraParam.rctp()
Description	Set RTCP parameter
Request Parameters	None
Return Value	None

4.12.41.3 Set Frame Offset

Method Name	ExtraParam.offset( index )
Description	Set frame offset
Request Parameters	index : Offset index (integer)
Return Value	None

4.12.41.4 Set Time-Based Operation or Assignment

Method Name	ExtraParam.tb( second , type , name =None, index =None, status =None)
Description	Set time-based operation or assignment
Request Parameters	second : Seconds (integer) type : Execution type (string) name : Name (for operation, string) index : Index (for assignment, integer) status : Status (for assignment, string)
Return Value	None

4.12.41.5 Set Jump

Method Name	ExtraParam.skip( index )
Description	Set jump
Request Parameters	index : Label index (integer)
Return Value	None

4.12.42 JUMP Quick Motion Instruction

4.12.42.1 JUMP Quick Motion Instruction

Method Name	move_jump( pose_type , pose_index , speed_value , speed_ratio , lim_Z_type , lim_Z_value , smooth_type , smooth_distance =0.0, extra_param =None)
Description	Robot point-to-point move to the specified position
Request Parameters	pose_type : Target pose storage type ( MovePoseType , currently supports PR register) pose_index : Index of the target position (integer, indicating the position in the PR register on the controller) speed_value : Movement speed value (float, unit is mm/s) speed_ratio : Movement speed ratio (float, unit is %, range is 0~100) lim_Z_type : Z-axis limit type ( SpeedType , can be MR register or numerical VALUE) lim_Z_value : Z-axis limit value (if lim_Z_type is MR register, it indicates the MR register sequence number; if it is numerical VALUE, it indicates the Z-axis limit value, unit is mm/s, range is 0~100) smooth_type : Smooth type ( SmoothType , can be FINE or SMOOTH_DISTANCE) smooth_distance : Smooth distance (float, only effective when smooth_type is SMOOTH_DISTANCE, range is 0~1000) extra_param : Extra parameter ( ExtraParam , used to set the extra parameters of the MOVE instruction, optional)
Return Value	StatusCodeEnum: Function execution result

4.12.42.2 JUMP3 Quick Motion Instruction

Method Name	move_jump3( pose_type , pose_index , speed_value , speed_ratio , smooth_type , smooth_distance =0.0, extra_param =None)
Description	Robot point-to-point move to the specified position
Request Parameters	pose_type : Target pose storage type ( MovePoseType , currently supports PR register) pose_index : Index of the 3 target positions (list, containing 3 integers, indicating the positions in the PR register on the controller) speed_value : Movement speed value (float, unit is mm/s) speed_ratio : Movement speed ratio (float, unit is %, range is 0~100) smooth_type : Smooth type ( SmoothType , can be FINE or SMOOTH_DISTANCE) smooth_distance : Smooth distance (float, only effective when smooth_type is SMOOTH_DISTANCE, range is 0~1000) extra_param : Extra parameter ( ExtraParam , used to set the extra parameters of the MOVE instruction, optional)
Return Value	StatusCodeEnum: Function execution result

4.12.42.3 JUMP3CP Quick Motion Instruction

Method Name	move_jump3cp( pose_type , pose_index , speed_value , smooth_type , smooth_distance =0.0, extra_param =None)
Description	Robot point-to-point move to the specified position
Request Parameters	pose_type : Target pose storage type ( MovePoseType , currently supports PR register) pose_index : Index of the 3 target positions (list, containing 3 integers, indicating the positions in the PR register on the controller) speed_value : Movement speed value (float, unit is mm/s) smooth_type : Smooth type ( SmoothType , can be FINE or SMOOTH_DISTANCE) smooth_distance : Smooth distance (float, only effective when smooth_type is SMOOTH_DISTANCE, range is 0~1000) extra_param : Extra parameter ( ExtraParam , used to set the extra parameters of the MOVE instruction, optional)
Return Value	StatusCodeEnum: Function execution result

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