4.12 BasScript Program Class

Overview

BasScript lets you construct BAS instruction sequences for the robot in a structured way from the host PC, covering motion, logic, program calls, communication, vision, and Modbus commands.

Core Features

• Support for building motion instructions (MoveJoint, MoveLine, MoveCircle, etc.)
• Support for building logic instructions (If, While, Switch, Goto, etc.)
• Support for building assignment, wait, pause, and abort instructions
• Support for building program call and management instructions
• Support for building Socket communication instructions
• Support for building Modbus register read/write instructions
• Support for building vision program instructions
• Support for setting extra parameters (acceleration, RTCP, frame offset, etc.)
• Support for quick motion instructions (JUMP series)

Use Cases

• Automatically generate complex robot programs
• Edit and modify robot programs
• Reuse common program modules and instruction sequences
• Achieve seamless integration between host PC and robot programs
• Build customized robot motion trajectories
• Integrate vision, communication, and Modbus functions into robot programs

Constructor

Method Name	BasScript( name : str) -> BasScript
Description	Construct BAS instruction sequences for the robot
Request Parameters	name : Script name
Compatible Robot Software Versions	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): v7.6.0.0+
Notes	All methods under this class have the same compatibility requirements as this class

Subclass Structure

BasScript class contains the following subclasses to organize different types of instructions:

1. ExtraParam: Extra parameter class for building complex robot control commands
2. BasMotion: Motion instruction subclass containing all robot motion-related methods
3. BasLogical: Logic instruction subclass containing all logic control-related methods
4. BasStructure: Structure instruction subclass containing all structure control-related methods
5. BasSocket: Socket communication subclass containing all Socket communication-related methods
6. BasModbus: Modbus communication subclass containing all Modbus communication-related methods
7. BasVision: Vision instruction subclass containing all vision-related methods

4.12.1 ExtraParam

Method Name	ExtraParam() -> ExtraParam
Description	Extra parameter class for building complex robot control commands
Request Parameters	None
Return Value	ExtraParam object

4.12.1.1 Set Acceleration

Method Name	extra_param.acceleration( value : float) -> None
Description	Set acceleration, range is 1~120%
Request Parameters	value : float Acceleration value, unit: % (float)
Return Value	None

4.12.1.2 Set RTCP Parameter

Method Name	extra_param.rtcp() -> None
Description	Set RTCP parameter, only supports MoveL and MoveC instructions
Request Parameters	None
Return Value	None

4.12.1.3 Set Frame Offset

Method Name	extra_param.offset( index : int) -> None
Description	Set frame offset
Request Parameters	index : int Offset index (integer)
Return Value	None

4.12.1.4 Set Time-Based Operation or Assignment

Method Name	extra_param.tb( second : int, type : str, name : str = None, index : int = None, status : str = None) -> None
Description	Set time-based operation or assignment, range is 0.01-30s, values less than 0.01 will not be saved successfully
Request Parameters	second : int Seconds, unit: sec (integer) type : str Execution type (string) name : str Name (for operation, string) index : int Index (for assignment, integer) status : str Status (for assignment, string)
Return Value	None

4.12.1.5 Set Jump

Method Name	extra_param.skip( index : int) -> None
Description	Set jump, when the jump condition set by the SKIP CONDITION instruction is met, jump directly from the current line containing the SKIP instruction to the target instruction line or target program
Request Parameters	index : int Index of the target label (integer)
Return Value	None

4.12.1.6 Set Departure Distance and Approaching Distance

Method Name	extra_param.approach( departure_dist : float, approaching_dist : float) -> None
Description	Set departure distance and approaching distance for door-type motion, only used for JUMP instructions
Request Parameters	departure_dist : float Departure distance, unit: mm (float) approaching_dist : float Approaching distance, unit: mm (float)
Return Value	None

4.12.2 BasMotion

4.12.2.1 MoveJoint Motion to Point Instruction

Method Name	motion.move_joint( pose_type : MovePoseType, pose_index : int, speed_type : SpeedType, speed_value : float, smooth_type : SmoothType, smooth_distance : float = 0.0, extra_param : ExtraParam = None) -> StatusCodeEnum
Description	Joint motion instruction, moves the robot to a specified position in the workspace with the specified movement speed and method
Request Parameters	pose_type : MovePoseType Pose type pose_index : int Pose index speed_type : SpeedType Speed type speed_value : float Speed value, unit: % smooth_type : SmoothType Smooth type smooth_distance : float Smooth distance, unit: mm, range: 0~1000 extra_param : ExtraParam Additional parameters
Return Value	StatusCodeEnum: Function execution result

4.12.2.2 MoveLine Linear Motion to Point Instruction

Method Name	motion.move_line( pose_type : MovePoseType, pose_index : int, speed_type : SpeedType, speed_value : float, smooth_type : SmoothType, smooth_distance : float = 0.0, extra_param : ExtraParam = None) -> StatusCodeEnum
Description	Linear motion instruction, moves the robot in a straight line to a specified position in the workspace with the specified movement speed and method
Request Parameters	pose_type : MovePoseType Pose type pose_index : int Pose index speed_type : SpeedType Speed type speed_value : float Speed value, unit: mm/s smooth_type : SmoothType Smooth type smooth_distance : float Smooth distance, unit: mm, range: 0~1000 extra_param : ExtraParam Additional parameters
Return Value	StatusCodeEnum: Function execution result

4.12.2.3 MoveCircle Arc Motion to Point Instruction

Method Name	motion.move_circle( pose_type1 : MovePoseType, pose_index1 : int, pose_type2 : MovePoseType, pose_index2 : int, speed_type : SpeedType, speed_value : float, smooth_type : SmoothType, smooth_distance : float = 0.0, extra_param : ExtraParam = None) -> StatusCodeEnum
Description	Arc motion instruction, moves the robot in an arc to a specified position in the workspace with the specified movement speed and method
Request Parameters	pose_type1 : MovePoseType First pose type pose_index1 : int First pose index pose_type2 : MovePoseType Second pose type pose_index2 : int Second pose index speed_type : SpeedType Speed type speed_value : float Speed value, unit: mm/s smooth_type : SmoothType Smooth type smooth_distance : float Smooth distance, unit: mm, range: 0~1000 extra_param : ExtraParam Additional parameters
Return Value	StatusCodeEnum: Function execution result

4.12.2.4 JUMP Quick Motion Instruction

Method Name	motion.move_jump( pose_type : MovePoseType, pose_index : int, speed_value : float, speed_ratio : float, lim_Z_type : SpeedType, lim_Z_value : float, smooth_type : SmoothType, smooth_distance : float = 0.0, extra_param : ExtraParam = None) -> StatusCodeEnum
Description	Door-type motion instruction, specifies the robot to perform door-type motion (first vertical ascent, then horizontal movement, finally vertical descent)
Request Parameters	pose_type : MovePoseType Target pose storage type pose_index : int Index of the target position speed_value : float Movement speed value, unit: mm/s speed_ratio : float Movement speed ratio, unit: % lim_Z_type : SpeedType Z-axis limit type lim_Z_value : float Z-axis limit value smooth_type : SmoothType Smooth type smooth_distance : float Smooth distance, unit: mm, range: 0~1000 extra_param : ExtraParam Additional parameters
Return Value	StatusCodeEnum: Function execution result

4.12.2.5 JUMP3 Quick Motion Instruction

Method Name	motion.move_jump3( pose_type : MovePoseType, pose_index : List[int], speed_value : float, speed_ratio : float, smooth_type : SmoothType, smooth_distance : float = 0.0, extra_param : ExtraParam = None) -> StatusCodeEnum
Description	Door-type motion instruction, specifies the robot to perform door-type motion with three positions: departure, approach, and target
Request Parameters	pose_type : MovePoseType Target pose storage type pose_index : List[int] List of 3 target position indices (departure, approach, target) speed_value : float Movement speed value, unit: mm/s speed_ratio : float Movement speed ratio, unit: % smooth_type : SmoothType Smooth type smooth_distance : float Smooth distance, unit: mm, range: 0~1000 extra_param : ExtraParam Additional parameters
Return Value	StatusCodeEnum: Function execution result

4.12.2.6 JUMP3CP Quick Motion Instruction

Method Name	motion.move_jump3cp( pose_type : MovePoseType, pose_index : List[int], speed_value : float, smooth_type : SmoothType, smooth_distance : float = 0.0, extra_param : ExtraParam = None) -> StatusCodeEnum
Description	Door-type motion instruction, specifies the robot to perform door-type motion with three positions: departure, approach, and target
Request Parameters	pose_type : MovePoseType Target pose storage type pose_index : List[int] List of 3 target position indices (departure, approach, target) speed_value : float Movement speed value, unit: mm/s smooth_type : SmoothType Smooth type smooth_distance : float Smooth distance, unit: mm, range: 0~1000 extra_param : ExtraParam Additional parameters
Return Value	StatusCodeEnum: Function execution result

4.12.3 BasLogical

4.12.3.1 LogiIf Conditional Instruction

Method Name	logical.logi_if( param1 : Union[RegisterType, IOType], index : int, param2 : Union[RegisterType, IOType, OtherType], value : Union[int, float, str, IOStatus], operator : BooleanOperator = BooleanOperator.EQ) -> StatusCodeEnum
Description	Conditional judgment instruction, executes different code blocks according to the specified condition
Request Parameters	param1 : Union[RegisterType, IOType] First parameter (register or IO signal) index : int Index of parameter 1 param2 : Union[RegisterType, IOType, OtherType] Second parameter (register, IO signal, or other type) value : Union[int, float, str, IOStatus] Index or value of parameter 2 operator : BooleanOperator Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.3.2 LogiElseIf Conditional Branch Instruction

Method Name	logical.logi_else_if( param1 : Union[RegisterType, IOType], index : int, param2 : Union[RegisterType, IOType, OtherType], value : Union[int, float, str, IOStatus], operator : BooleanOperator = BooleanOperator.EQ) -> StatusCodeEnum
Description	Conditional branch instruction, judges whether the ElseIf condition is met when the If condition is not met
Request Parameters	param1 : Union[RegisterType, IOType] First parameter (register or IO signal) index : int Index of parameter 1 param2 : Union[ValueType, IOType, OtherType] Second parameter (register, IO signal, or other type) value : Union[int, float, IOStatus] Index or value of parameter 2 operator : BooleanOperator Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.3.3 LogiElse Else Instruction

Method Name	logical.logi_else() -> StatusCodeEnum
Description	Else instruction, executes when all If and ElseIf conditions are not met
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.3.4 LogiEndIf End Conditional Instruction

Method Name	logical.logi_end_if() -> StatusCodeEnum
Description	End conditional instruction, used to end the If condition statement block
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.3.5 LogiWhile Loop Instruction

Method Name	logical.logi_while( param1 : Union[RegisterType, IOType], index : int, param2 : Union[RegisterType, IOType, OtherType], value : Union[int, float, str, IOStatus], operator : BooleanOperator = BooleanOperator.EQ) -> StatusCodeEnum
Description	Loop instruction, repeatedly executes the code in the loop body when the condition is met
Request Parameters	param1 : Union[RegisterType, IOType] First parameter (register or IO signal) index : int Index of parameter 1 param2 : Union[RegisterType, IOType, OtherType] Second parameter (register, IO signal, or other type) value : Union[int, float, str, IOStatus] Index or value of parameter 2 operator : BooleanOperator Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.3.6 LogiEndWhile End Loop Instruction

Method Name	logical.logi_end_while() -> StatusCodeEnum
Description	End loop instruction, used to end the While loop statement block
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.3.7 LogiSwitch Multi-branch Selection Instruction

Method Name	logical.logi_switch( param : Union[RegisterType, IOType], index : int) -> StatusCodeEnum
Description	Multi-branch selection instruction, selects different branches to execute according to the value of the expression, supports BREAK statement to exit the branch
Request Parameters	param : Union[RegisterType, IOType] Register or IO signal index : int Index number
Return Value	StatusCodeEnum: Function execution result

4.12.3.8 LogiCase Branch Instruction

Method Name	logical.logi_case( param : Union[RegisterType, IOType, OtherType], value : Union[int, float, str]) -> StatusCodeEnum
Description	Branch instruction, used to define branch conditions in Switch statements
Request Parameters	param : Union[RegisterType, IOType, OtherType] Register, IO signal, or other type value : Union[int, float, str] Index number or value
Return Value	StatusCodeEnum: Function execution result

4.12.3.9 LogiDefault Default Branch Instruction

Method Name	logical.logi_default() -> StatusCodeEnum
Description	Default branch instruction, executes when all Case conditions are not met
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.3.10 LogiEndSwitch End Multi-branch Selection Instruction

Method Name	logical.logi_end_switch() -> StatusCodeEnum
Description	End multi-branch selection instruction, used to end the Switch statement block
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.3.11 LogiGoto Jump Instruction

Method Name	logical.logi_goto( index : int) -> StatusCodeEnum
Description	Jump instruction, used to jump the program to a specified label position within the same program and continue executing from that position; must insert the LABEL instruction first, then use the GOTO instruction
Request Parameters	index : int Index of the target label
Return Value	StatusCodeEnum: Function execution result

4.12.3.12 LogiLabel Label Instruction

Method Name	logical.logi_label( index : int) -> StatusCodeEnum
Description	Label instruction, used to define jump target positions in the program, GOTO instructions can jump to this label position
Request Parameters	index : int Label index
Return Value	StatusCodeEnum: Function execution result

4.12.3.13 LogiSkipCondition Skip Condition Instruction

Method Name	logical.logi_skip_condition( param1 : Union[RegisterType, IOType], index : int, param2 : Union[RegisterType, IOType, OtherType], value : Union[int, float, str, IOStatus], operator : BooleanOperator = BooleanOperator.EQ) -> StatusCodeEnum
Description	Skip condition instruction, used to set jump conditions, when the condition is met, jump directly from the current line containing the SKIP instruction to the target instruction line or target program
Request Parameters	param1 : Union[RegisterType, IOType] First parameter (register or IO signal) index : int Index of parameter 1 param2 : Union[RegisterType, IOType, OtherType] Second parameter (register, IO signal, or other type) value : Union[int, float, str, IOStatus] Index or value of parameter 2 operator : BooleanOperator Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.3.14 LogiBreak Break Loop Instruction

Method Name	logical.logi_break() -> StatusCodeEnum
Description	Break loop instruction, used to exit the current loop or Switch statement
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.3.15 LogiContinue Skip Loop Instruction

Method Name	logical.logi_continue() -> StatusCodeEnum
Description	Skip loop instruction, used to skip the remaining part of the current loop and enter the next loop
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.4 BasStructure

4.12.4.1 Wait Wait Condition Instruction

Method Name	structure.wait( param1 : Union[RegisterType, IOType], index : int, param2 : Union[ValueType, IOType, OtherType], value : Union[int, float, IOStatus], operator : BooleanOperator = BooleanOperator.EQ) -> StatusCodeEnum
Description	Wait condition instruction, executes the WAIT instruction only when the condition is met, otherwise waits until the condition is met
Request Parameters	param1 : Union[RegisterType, IOType] First parameter (register or IO signal) index : int Index of parameter 1 param2 : Union[ValueType, IOType, OtherType] Second parameter (register, IO signal, or other type) value : Union[int, float, IOStatus] Index or value of parameter 2 operator : BooleanOperator Logical operator
Return Value	StatusCodeEnum: Function execution result

4.12.4.2 WaitTime Wait Time Instruction

Method Name	structure.wait_time( param : ValueType, value : Union[int, float]) -> StatusCodeEnum
Description	Wait time instruction, executes the WAIT TIME instruction, the robot waits for the specified time before continuing to execute subsequent instructions
Request Parameters	param : ValueType Parameter type (R register or value) value : Union[int, float] Time value, unit: sec
Return Value	StatusCodeEnum: Function execution result

4.12.4.3 Pause Pause Instruction

Method Name	structure.pause() -> StatusCodeEnum
Description	Pause instruction, when executing to the Pause instruction, pauses the program execution, the robot immediately plans a deceleration trajectory and stops, the program enters the pause state. To continue execution, you need to press the start button again
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.4.4 Abort Abort Instruction

Method Name	structure.abort() -> StatusCodeEnum
Description	Force end instruction: Ends program execution, the robot servo immediately brakes, the brake is applied, and the servo bus is powered off. After executing the force end instruction, the program enters the terminated state, and the cursor stops at the current line
Request Parameters	None
Return Value	StatusCodeEnum: Function execution result

4.12.4.5 Call Synchronous Program Call Instruction

Method Name	structure.call( name : str) -> StatusCodeEnum
Description	Synchronous program call instruction, calls the specified program and waits for its execution to complete before continuing to execute the current program, supports calling preset BAS programs
Request Parameters	name : str Program name
Return Value	StatusCodeEnum: Function execution result

4.12.4.6 Run Asynchronous Program Call Instruction

Method Name	structure.run( name : str) -> StatusCodeEnum
Description	Asynchronous program call instruction, calls the specified program and returns immediately, continuing to execute the current program, supports calling preset BAS programs
Request Parameters	name : str Program name
Return Value	StatusCodeEnum: Function execution result

4.12.4.7 Load Load Program Instruction

Method Name	structure.load( name : str) -> StatusCodeEnum
Description	Load program instruction, loads the specified program into memory
Request Parameters	name : str Program name
Return Value	StatusCodeEnum: Function execution result

4.12.4.8 Unload Unload Program Instruction

Method Name	structure.unload( name : str) -> StatusCodeEnum
Description	Unload program instruction, unloads the specified program from memory
Request Parameters	name : str Program name
Return Value	StatusCodeEnum: Function execution result

4.12.4.9 Exec Execute Program Instruction

Method Name	structure.exec( name : str) -> StatusCodeEnum
Description	Execute program instruction, executes the specified program
Request Parameters	name : str Program name
Return Value	StatusCodeEnum: Function execution result

4.12.5 BasSocket

4.12.5.1 SocketOpen Open Socket Connection Instruction

Method Name	socket.socket_open( index : int) -> StatusCodeEnum
Description	Use Socket Open instruction to create a Server and wait for Client connection
Request Parameters	index : int SK register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.5.2 SocketClose Close Socket Connection Instruction

Method Name	socket.socket_close( index : int) -> StatusCodeEnum
Description	Close the specified socket connection
Request Parameters	index : int SK register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.5.3 SocketConnect Connect Socket Instruction

Method Name	socket.socket_connect( index : int) -> StatusCodeEnum
Description	Use Socket Connect instruction to connect to the specified socket server
Request Parameters	index : int SK register sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.5.4 SocketSend Send Socket Data Instruction

Method Name	socket.socket_send( index : int, msg_type : StrType, value : Union[int, str]) -> StatusCodeEnum
Description	Use Socket Send instruction to send data to the specified socket connection
Request Parameters	index : int SK register sequence number msg_type : StrType Message type value : Union[int, str] Message content or sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.5.5 SocketRecv Receive Socket Data Instruction

Method Name	socket.socket_recv( index : int, msg_lenth : int, msg_type : StrType, value : Union[int, str]) -> StatusCodeEnum
Description	Use Socket Recv instruction to read characters from the specified socket connection, can specify maximum length
Request Parameters	index : int SK register sequence number msg_lenth : int Maximum message length msg_type : StrType Message type value : Union[int, str] Message content or sequence number
Return Value	StatusCodeEnum: Function execution result

4.12.6 BasModbus

4.12.6.1 ModbusReadMH Read Modbus Holding Register Instruction

Method Name	modbus.modbus_read_MH( index : int, id : int, address : int, length : int, r_index : int) -> StatusCodeEnum
Description	Read Modbus holding register instruction
Request Parameters	index : int Channel sequence number id : int Modbus ID address : int Register starting address length : int Register length, i.e., the number of registers to read r_index : int R register starting sequence number for writing results
Return Value	StatusCodeEnum: Function execution result

4.12.6.2 ModbusReadMI Read Modbus Input Register Instruction

Method Name	modbus.modbus_read_MI( index : int, id : int, address : int, length : int, r_index : int) -> StatusCodeEnum
Description	Read Modbus input register instruction
Request Parameters	index : int Channel sequence number id : int Modbus ID address : int Register starting address length : int Register length, i.e., the number of registers to read r_index : int R register starting sequence number for writing results
Return Value	StatusCodeEnum: Function execution result

4.12.6.3 ModbusWriteMH Write Modbus Holding Register Instruction

Method Name	modbus.modbus_write_MH( index : int, id : int, address : int, length : int, value_type : ValueType, value : int) -> StatusCodeEnum
Description	Write Modbus holding register instruction
Request Parameters	index : int Channel sequence number id : int Modbus ID address : int Register starting address length : int Register length, i.e., the number of registers to write value_type : ValueType Value type value : int Value or R register starting index
Return Value	StatusCodeEnum: Function execution result

4.12.7 BasVision

4.12.7.1 VisionFind Find Vision Program Instruction

Method Name	vision.vision_find( name : str) -> StatusCodeEnum
Description	Execute vision find program
Request Parameters	name : str Vision program name
Return Value	StatusCodeEnum: Function execution result

4.12.7.2 VisionGetOffset Get Vision Program Offset Instruction

Method Name	vision.vision_get_offset( name : str, index : int, label_index : int) -> StatusCodeEnum
Description	Get the offset after executing the vision program
Request Parameters	name : str Vision program name index : int Vision register index label_index : int Label index
Return Value	StatusCodeEnum: Function execution result

4.12.7.3 VisionGetQuantity Get Vision Program Result Instruction

Method Name	vision.vision_get_quantity( name : str, index : int) -> StatusCodeEnum
Description	Get the result quantity after executing the vision program
Request Parameters	name : str Vision program name index : int R register index for storing results
Return Value	StatusCodeEnum: Function execution result

4.12.8 Direct Methods

4.12.8.1 SetParam Set Parameter Instruction

Method Name	bas_script.set_param( type : ParamType, value_type : ValueType, value : Union[int, float]) -> StatusCodeEnum
Description	Set parameter instruction, used to set various parameters of the robot
Request Parameters	type : ParamType Parameter type value_type : ValueType Value type value : Union[int, float] Value
Return Value	StatusCodeEnum: Function execution result

4.12.8.2 AssignValue Assignment Instruction

Method Name	bas_script.assign_value( param1 : AssignType, index : int, param2 : Union[AssignType, OtherType], value : Union[int, float, str, IOStatus, CurrentPose], opt_index : int = 0, opt_value = 0) -> StatusCodeEnum
Description	Assignment instruction, used to assign values to registers, IO signals, etc.
Request Parameters	param1 : AssignType First parameter (register or IO signal) index : int Index of parameter 1 param2 : Union[AssignType, OtherType] Second parameter (register, IO signal, or other type) value : Union[int, float, str, IOStatus, CurrentPose] Index or value of parameter 2 opt_index : int Additional index when parameter 1 is PR_ELEMENT opt_value : int Additional index when parameter 2 is PR_ELEMENT or pulse value when value is IOStatus.PULSE
Return Value	StatusCodeEnum: Function execution result