4.10 BasScript Script Program Class

Overview

BasScript is used to construct BAS instruction sequences on the host side in a structured way, including motion, logic, program control, communication, vision, and Modbus instructions.

Core Features

• Build motion instructions ( MoveJoint , MoveLine , MoveCircle , etc.)
• Build logic instructions ( IF , WHILE , SWITCH , GOTO , etc.)
• Build assignment, wait, pause, and abort instructions
• Build program call and management instructions
• Build Socket communication instructions
• Build Modbus register read/write instructions
• Build vision instructions
• Configure extra parameters (acceleration, RTCP, frame offset, etc.)
• Support high-level jump instructions ( JUMP series)

Use Cases

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

Class Constructor

Method Name	BasScript(string name )
Description	Constructs a BAS instruction sequence class for use in robots
Request Parameters	name : string Script program name
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported
Note	All methods in this class have the same compatible version requirements as this class

Subclass Structure

The BasScript class contains the following subclasses for organizing different instruction categories:

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

4.10.1 ExtraParam Class

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

4.10.1.1 Set Acceleration

Method Name	ExtraParam.Acceleration(double value )
Description	Sets acceleration, range is 1~120%
Request Parameters	value : double Acceleration value, unit: % (floating point)
Return Value	StatusCode: Parameter setting execution result

4.10.1.2 Set RTCP Parameter

Method Name	ExtraParam.RTCP()
Description	Sets RTCP parameter, only supports MoveL and MoveC instructions
Request Parameters	None
Return Value	StatusCode: Parameter setting execution result

4.10.1.3 Set Frame Offset

Method Name	ExtraParam.Offset(int index )
Description	Sets frame offset
Request Parameters	index : int Offset index (integer)
Return Value	StatusCode: Parameter setting execution result

4.10.1.4 Set Time-Base Run/Assign

Method Name	ExtraParam.TB(double second , string type , string name )
Description	Sets time-base run or assign, range is 0.01-30s, values less than 0.01 will not save successfully
Request Parameters	second : double Seconds, unit: sec (floating point) type : string Execution type (string) name : string Name (for running, string)
Return Value	StatusCode: Parameter setting execution result

Method Name	ExtraParam.TB(double second , string type , int index , int status )
Description	Sets time-base run or assign, range is 0.01-30s, values less than 0.01 will not save successfully
Request Parameters	second : double Seconds, unit: sec (floating point) type : string IO type (string) index : int Index (for assignment, integer) status : int Status (for assignment, integer)
Return Value	StatusCode: Parameter setting execution result

4.10.1.5 Set Skip

Method Name	ExtraParam.SKIP(int index )
Description	Sets jump, when the jump condition set by SKIP CONDITION instruction is met, directly jumps from the current line containing SKIP instruction to the target instruction line or target program
Request Parameters	index : int Index of the target label (integer)
Return Value	StatusCode: Parameter setting execution result

4.10.1.6 Set Departure and Approach Distance

Method Name	ExtraParam.Approach(double departureDist , double approachingDist )
Description	Sets departure and approach distance for gate-type motion, only used for JUMP instruction
Request Parameters	departureDist : double Departure distance, unit: mm (floating point) approachingDist : double Approach distance, unit: mm (floating point)
Return Value	StatusCode: Parameter setting execution result

4.10.2 BasMotion Motion Instruction Subclass

BasMotion subclass contains all robot motion-related methods, used for building motion instruction sequences.

4.10.2.1 MoveJoint Motion to Point Instruction

Method Name	BasScript.BasMotion.MoveJoint(MovePoseType poseType , int poseIndex , SpeedType speedType , double speedValue , SmoothType smoothType , double smoothDistance = 0, ExtraParam extraParam = null)
Description	Joint motion instruction, moves the robot to a specified position in the workspace with specified movement speed and method, corresponds to MoveJoint instruction in robot program writing
Request Parameters	poseType : MovePoseType Pose type poseIndex : int Pose index speedType : SpeedType Speed type speedValue : double Speed value, unit: % smoothType : SmoothType Smooth type smoothDistance : double Smooth distance, unit: mm, value range: 0~1000 extraParam : ExtraParam Additional parameter
Return Value	StatusCode: Motion instruction execution result

4.10.2.2 MoveLine Linear Motion to Point Instruction

Method Name	BasScript.BasMotion.MoveLine(MovePoseType poseType , int poseIndex , SpeedType speedType , double speedValue , SmoothType smoothType , double smoothDistance = 0, ExtraParam extraParam = null)
Description	Linear motion instruction, moves the robot linearly to a specified position in the workspace with specified movement speed and method, corresponds to MoveLine instruction in robot program writing
Request Parameters	poseType : MovePoseType Pose type poseIndex : int Pose index speedType : SpeedType Speed type speedValue : double Speed value, unit: mm/s smoothType : SmoothType Smooth type smoothDistance : double Smooth distance, unit: mm, value range: 0~1000 extraParam : ExtraParam Additional parameter
Return Value	StatusCode: Motion instruction execution result

4.10.2.3 MoveCircle Arc Motion to Point Instruction

Method Name	BasScript.BasMotion.MoveCircle(MovePoseType poseType1 , int poseIndex1 , MovePoseType poseType2 , int poseIndex2 , SpeedType speedType , double speedValue , SmoothType smoothType , double smoothDistance = 0, ExtraParam extraParam = null)
Description	Arc motion instruction, moves the robot in an arc to a specified position in the workspace with specified movement speed and method, corresponds to MoveCircle instruction in robot program writing
Request Parameters	poseType1 : MovePoseType First pose type poseIndex1 : int First pose index poseType2 : MovePoseType Second pose type poseIndex2 : int Second pose index speedType : SpeedType Speed type speedValue : double Speed value, unit: mm/s smoothType : SmoothType Smooth type smoothDistance : double Smooth distance, unit: mm, value range: 0~1000 extraParam : ExtraParam Additional parameter
Return Value	StatusCode: Motion instruction execution result

4.10.2.4 Jump Point-to-Point Motion Instruction

Method Name	BasScript.BasMotion.Jump(MovePoseType poseType , int poseIndex , double speedValue , double speedRatio , SpeedType limZType , double limZValue , SmoothType smoothType , double smoothDistance = 0, ExtraParam extraParam = null)
Description	Gate-type motion instruction, specifies the robot to perform gate-type motion (first vertically up, then horizontally move, finally vertically down), corresponds to JUMP instruction in robot program writing
Request Parameters	poseType : MovePoseType Target pose storage type poseIndex : int Target position index speedValue : double Motion speed value, unit: mm/s speedRatio : double Motion speed ratio, unit: % limZType : SpeedType Z-axis limit type limZValue : double Z-axis limit value smoothType : SmoothType Smooth type smoothDistance : double Smooth distance, unit: mm, value range: 0~1000 extraParam : ExtraParam Extra parameter
Return Value	StatusCode: Motion instruction execution result

4.10.2.5 Jump3 Three-Point Jump Instruction

Method Name	BasScript.BasMotion.Jump3(MovePoseType poseType , int poseIndex , double speedValue , double speedRatio , SmoothType smoothType , double smoothDistance = 0, ExtraParam extraParam = null)
Description	Gate-type motion instruction, specifies the robot to perform gate-type motion, including departure, approach, and target positions, corresponds to JUMP3 instruction in robot program writing
Request Parameters	poseType : MovePoseType Target pose storage type poseIndex : int 3 target position indices speedValue : double Motion speed value, unit: mm/s speedRatio : double Motion speed ratio, unit: % smoothType : SmoothType Smooth type smoothDistance : double Smooth distance, unit: mm, value range: 0~1000 extraParam : ExtraParam Extra parameter
Return Value	StatusCode: Motion instruction execution result

4.10.2.6 Jump3CP Three-Point Jump CP Instruction

Method Name	BasScript.BasMotion.Jump3CP(MovePoseType poseType , int poseIndex , double speedValue , SmoothType smoothType , double smoothDistance = 0, ExtraParam extraParam = null)
Description	Gate-type motion instruction, specifies the robot to perform gate-type motion, including departure, approach, and target positions, corresponds to JUMP3CP instruction in robot program writing
Request Parameters	poseType : MovePoseType Target pose storage type poseIndex : int 3 target position indices speedValue : double Motion speed value, unit: mm/s smoothType : SmoothType Smooth type smoothDistance : double Smooth distance, unit: mm, value range: 0~1000 extraParam : ExtraParam Extra parameter
Return Value	StatusCode: Motion instruction execution result

4.10.3 BasLogical Logical Instruction Subclass

BasLogical subclass contains all logic control-related methods, used for building logic control instruction sequences.

4.10.3.1 IF Conditional Instruction

Method Name	BasScript.BasLogical.IF(param1, index, param2, value, operatorType)
Description	Adds a logical IF statement to the script
Request Parameters	param1 : First parameter, type RegisterType or IOType index : Index (integer) param2 : Second parameter, type RegisterType, IOType, or OtherType value : Value, type index, number, string, or IOStatus operatorType : Boolean operator, default is equal
Return Value	StatusCode: Operation execution result

4.10.3.2 ELSE_IF Conditional Branch Instruction

Method Name	BasScript.BasLogical.ELSE_IF(param1, index, param2, value, operatorType)
Description	Adds a logical ELSE IF statement to the script
Request Parameters	param1 : First parameter, type RegisterType or IOType index : Index (integer) param2 : Second parameter, type RegisterType, IOType, or OtherType value : Value, type index, number, string, or IOStatus operatorType : Boolean operator, default is equal
Return Value	StatusCode: Operation execution result

4.10.3.3 ELSE Instruction

Method Name	BasScript.BasLogical.ELSE()
Description	Adds a logical ELSE statement to the script
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.3.4 END_IF End Conditional Instruction

Method Name	BasScript.BasLogical.END_IF()
Description	Ends the logical IF statement
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.3.5 WHILE Loop Instruction

Method Name	BasScript.BasLogical.WHILE(param1, index, param2, value, operatorType)
Description	Adds a logical WHILE statement to the script
Request Parameters	param1 : First parameter, type RegisterType or IOType index : Index (integer) param2 : Second parameter, type RegisterType, IOType, or OtherType value : Value, type index, number, string, or IOStatus operatorType : Boolean operator, default is equal
Return Value	StatusCode: Operation execution result

4.10.3.6 END_WHILE End Loop Instruction

Method Name	BasScript.BasLogical.END_WHILE()
Description	Ends the logical While statement
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.3.7 SWITCH Multi-Branch Selection Instruction

Method Name	BasScript.BasLogical.SWITCH(param, index)
Description	Adds a logical SWITCH statement to the script
Request Parameters	param : Parameter, type RegisterType or IOType index : Index of the parameter
Return Value	StatusCode: Operation execution result

4.10.3.8 CASE Branch Instruction

Method Name	BasScript.BasLogical.CASE(param, value)
Description	Adds a logical CASE statement to the script
Request Parameters	param : Parameter, type RegisterType, IOType, or OtherType value : Value, type index, number, string
Return Value	StatusCode: Operation execution result

4.10.3.9 DEFAULT Branch Instruction

Method Name	BasScript.BasLogical.DEFAULT()
Description	Adds a logical DEFAULT statement to the script
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.3.10 END_SWITCH End Multi-Branch Selection Instruction

Method Name	BasScript.BasLogical.END_SWITCH()
Description	Ends the logical SWITCH statement
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.3.11 SKIP_CONDITION Skip Condition Instruction

Method Name	BasScript.BasLogical.SKIP_CONDITION(param1, index, param2, value, operatorType)
Description	Adds a logical SKIP CONDITION statement to the script
Request Parameters	param1 : First parameter, type RegisterType or IOType index : Index of parameter 1 param2 : Second parameter, type RegisterType, IOType, or OtherType value : Value, type index, number, string, or IOStatus operatorType : Boolean operator, default is equal
Return Value	StatusCode: Operation execution result

4.10.3.12 GOTO Jump Instruction

Method Name	BasScript.BasLogical.GOTO(index)
Description	GOTO jump statement
Request Parameters	index : Index of the target label
Return Value	StatusCode: Operation execution result

4.10.3.13 LABEL Instruction

Method Name	BasScript.BasLogical.LABEL(index)
Description	LABEL statement
Request Parameters	index : Index of the label
Return Value	StatusCode: Operation execution result

4.10.3.14 BREAK Break Out of Loop Instruction

Method Name	BasScript.BasLogical.BREAK()
Description	BREAK statement
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.3.15 CONTINUE Skip Loop Instruction

Method Name	BasScript.BasLogical.CONTINUE()
Description	CONTINUE statement
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.4 BasStructure Structural Instruction Subclass

BasStructure subclass contains all structure control-related methods, used for building structure control instruction sequences.

4.10.4.1 WAIT Wait Condition Instruction

Method Name	BasScript.BasStructure.WAIT(RegisterType param1 , int index , ValueType param2 , object value , BooleanOperator operatorType = BooleanOperator.EQ)
Description	Wait condition instruction, executes WAIT instruction only when the condition is met, the program can continue to execute downward, otherwise it waits until the condition is met, corresponds to WAIT COND statement in robot program writing
Request Parameters	param1 : RegisterType First parameter (register or IO signal) index : int Index of parameter 1 param2 : ValueType Second parameter (register, IO signal, or other type) value : object Index or value of parameter 2 operatorType : BooleanOperator Logical operator, default is equal
Return Value	StatusCode: Operation execution result

4.10.4.2 WAIT_TIME Wait Time Instruction

Method Name	BasScript.BasStructure.WAIT_TIME(ValueType param , double value )
Description	Wait time instruction, executes WAIT TIME instruction, the robot waits for the specified time before continuing to execute subsequent instructions, corresponds to WAIT TIME statement in robot program writing
Request Parameters	param : ValueType Parameter type (R register or value) value : double Time value, unit: sec
Return Value	StatusCode: Operation execution result

4.10.4.3 PAUSE Instruction

Method Name	BasScript.BasStructure.PAUSE()
Description	PAUSE statement
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.4.4 ABORT Instruction

Method Name	BasScript.BasStructure.ABORT()
Description	ABORT statement
Request Parameters	None
Return Value	StatusCode: Operation execution result

4.10.4.5 CALL Synchronous Program Call Instruction

Method Name	BasScript.BasStructure.CALL(name)
Description	CALL synchronous program call
Request Parameters	name : Program name
Return Value	StatusCode: Operation execution result

4.10.4.6 RUN Asynchronous Program Call Instruction

Method Name	BasScript.BasStructure.RUN(name)
Description	RUN asynchronous program call
Request Parameters	name : Program name
Return Value	StatusCode: Operation execution result

4.10.4.7 LOAD Load Program Instruction

Method Name	BasScript.BasStructure.LOAD(param, value)
Description	LOAD load program
Request Parameters	param : Parameter, R register, SR register, number, or string value : Value of the parameter, number or string
Return Value	StatusCode: Operation execution result

4.10.4.8 UNLOAD Unload Program Instruction

Method Name	BasScript.BasStructure.UNLOAD(param, value)
Description	UNLOAD unload program
Request Parameters	param : Parameter, R register, SR register, number, or string value : Value of the parameter, number or string
Return Value	StatusCode: Operation execution result

4.10.4.9 EXEC Execute Program Instruction

Method Name	BasScript.BasStructure.EXEC(param, value)
Description	EXEC execute program
Request Parameters	param : Parameter, R register, SR register, number, or string value : Value of the parameter, number or string
Return Value	StatusCode: Operation execution result

4.10.5 BasSocket Socket Communication Subclass

BasSocket subclass contains all Socket communication-related methods, used for building Socket communication instruction sequences.

4.10.5.1 OPEN Open Socket Connection Instruction

Method Name	BasScript.BasSocket.OPEN(int index )
Description	Uses Socket Open instruction to create a Server and wait for Client connection, corresponds to SOCKET OPEN in robot program writing
Request Parameters	index : int SK register index
Return Value	StatusCode: Operation execution result

4.10.5.2 CLOSE Close Socket Connection Instruction

Method Name	BasScript.BasSocket.CLOSE(int index )
Description	Closes the specified socket connection, corresponds to SOCKET CLOSE in robot program writing
Request Parameters	index : int SK register index
Return Value	StatusCode: Operation execution result

4.10.5.3 CONNECT Socket Connection Instruction

Method Name	BasScript.BasSocket.CONNECT(int index )
Description	Uses Socket Connect instruction to connect to the specified socket server, corresponds to SOCKET CONNECT in robot program writing
Request Parameters	index : int SK register index
Return Value	StatusCode: Operation execution result

4.10.5.4 SEND Send Socket Data Instruction

Method Name	BasScript.BasSocket.SEND(int index , StrType msgType , object value )
Description	Uses Socket Send instruction to send data to the specified socket connection, corresponds to SOCKET SEND in robot program writing
Request Parameters	index : int SK register index msgType : StrType Message type value : object Message content or index
Return Value	StatusCode: Operation execution result

4.10.5.5 RECV Receive Socket Data Instruction

Method Name	BasScript.BasSocket.RECV(int index , int msgLength , StrType msgType , object value )
Description	Uses Socket Recv instruction to read characters from the specified socket connection, can specify maximum length, corresponds to SOCKET RECV in robot program writing
Request Parameters	index : int SK register index msgLength : int Message maximum length msgType : StrType Message type value : object Message content or index
Return Value	StatusCode: Operation execution result

4.10.6 BasModbus Modbus Communication Subclass

BasModbus subclass contains all Modbus communication-related methods, used for building Modbus register read/write instruction sequences.

4.10.6.1 READ_MH Read Modbus Holding Register Instruction

Method Name	BasScript.BasModbus.READ_MH(int index , int id , int address , int length , int rIndex )
Description	Read Modbus holding register instruction, corresponds to READ_MH in robot program writing
Request Parameters	index : int Channel index id : int Modbus ID address : int Register start address length : int Register length, i.e., number of registers to read rIndex : int R register start index to write result
Return Value	StatusCode: Operation execution result

4.10.6.2 READ_MI Read Modbus Input Register Instruction

Method Name	BasScript.BasModbus.READ_MI(int index , int id , int address , int length , int rIndex )
Description	Read Modbus input register instruction, corresponds to READ_MI in robot program writing
Request Parameters	index : int Channel index id : int Modbus ID address : int Register start address length : int Register length, i.e., number of registers to read rIndex : int R register start index to write result
Return Value	StatusCode: Operation execution result

4.10.6.3 WRITE_MH Write Modbus Holding Register Instruction

Method Name	BasScript.BasModbus.WRITE_MH(int index , int id , int address , int length , ValueType valueType , int value )
Description	Write Modbus holding register instruction, corresponds to WRITE_MH in robot program writing
Request Parameters	index : int Channel index id : int Modbus ID address : int Register start address length : int Register length, i.e., number of registers to write valueType : ValueType Value type value : int Value or R register start index
Return Value	StatusCode: Operation execution result

4.10.7 BasVision Vision Instruction Subclass

BasVision subclass contains all vision-related methods, used for building vision program instruction sequences.

4.10.7.1 FIND Find Vision Program Instruction

Method Name	BasScript.BasVision.FIND(string name )
Description	Executes vision find program, corresponds to VISION FIND in robot program writing
Request Parameters	name : string Vision program name
Return Value	StatusCode: Operation execution result

4.10.7.2 GET_OFFSET Get Vision Program Offset Instruction

Method Name	BasScript.BasVision.GET_OFFSET(string name , int index , int labelIndex )
Description	Gets offset after vision program execution, corresponds to VISION GET OFFSET in robot program writing
Request Parameters	name : string Vision program name index : int Vision register index labelIndex : int Label index
Return Value	StatusCode: Operation execution result

4.10.7.3 GET_QUANTITY Get Vision Program Result Instruction

Method Name	BasScript.BasVision.GET_QUANTITY(string name , int index )
Description	Gets result quantity after vision program execution, corresponds to VISION GET QUANTITY in robot program writing
Request Parameters	name : string Vision program name index : int R register index to store result
Return Value	StatusCode: Operation execution result

4.10.8 AssignValue Assignment Instruction (Full Parameters)

Method Name	BasScript.AssignValue(AssignType param1 , int index , AssignType param2 , object value , int optIndex = 0, int optValue = 0)
Description	Assignment instruction, used to assign values to registers, IO signals, etc., corresponds to ASSIGN statement in robot program writing
Request Parameters	param1 : AssignType First parameter (register or IO signal) index : int Index of parameter 1 param2 : AssignType Second parameter (register, IO signal, or other type) value : object Index or value of parameter 2 optIndex : int Additional index for parameter 1 when param1 is PR_ELEMENT, default 0 optValue : int Additional index for parameter 2 when param2 is PR_ELEMENT or pulse value when value is IOStatus.PULSE, default 0
Return Value	StatusCode: Operation execution result

4.10.9 AssignValue Assignment Instruction (Simplified Parameters)

Method Name	BasScript.AssignValue(AssignType param , int index , object value )
Description	Assignment instruction (simplified parameters), used to assign values to registers, IO signals, etc., corresponds to ASSIGN statement in robot program writing
Request Parameters	param : AssignType Parameter type (register or IO signal) index : int Parameter index value : object Value (IOStatus, double, or string)
Return Value	StatusCode: Operation execution result

4.10.10 SetParam Set Parameter Instruction

Method Name	BasScript.SetParam(ParamType type , ValueType valueType , object value )
Description	Set parameter instruction, used to set various parameters of the robot, corresponds to SET PARAM in robot program writing
Request Parameters	type : ParamType Parameter type valueType : ValueType Value type value : object Value
Return Value	StatusCode: Operation execution result

---