Protocol Commands Upstream

Upstream commands

Taken from HANDLE_CMD in mappdk_cmd.kl, compatible with the original fanucpy upstream driver; works even without this project's extended driver loaded.

Command	Params	Response	Method
curpos	none	x=..,y=..,z=..,w=..,p=..,r=..	get_curpos()
curjpos	none	j=..,j=.. (a nonexistent axis is j=none)	get_curjpos()
ins_pwr	none	kW	get_ins_power()
movej	see wire format	success	move("joint", ...)
movep	see wire format	success	move("pose", ...)
mappdkcall	:<program name>	success	call_prog()
getrdo	:<n>	0 / 1	get_rdo()
setrdo	:<n>:<true|false>	success	set_rdo()
getdout	:<5-digit zero-padded>	0 / 1	get_dout()
setdout	:<5-digit zero-padded>:<true|false>	success	set_dout()
setsysvar	:<var name>:<T|F>	success	set_sys_var()
exit	none	success, then disconnects	via disconnect()

setsysvar only accepts booleans (T/F); numeric system variables need the extended command setsysvarnum, see extended commands.

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Last updated: 2026-08-31