AR4 File

What are AR4 files and how to open them

Are you having problems opening an AR4 file or are you simply curious about its contents? We're here to explain the properties of these files and provide you with software that can open or handle your AR4 files.

What is an AR4 file?

An .AR4 file is an Annin Robotics AR4 Program Source file.

Annin Robotics AR4 Program Source files store user-defined motion programs for the Annin Robotics AR4 six-axis robotic arm. These programs may include sequential robot moves, waypoints, coordinate-based motions (joint, Cartesian, tool-frame), IO operations, loops or calls, and other instructions to make the robot perform automated tasks. They are created and edited using the AR4 HMI control software developed by Annin Robotics.

Control flow in AR4 program source files typically follows what a user builds in the AR4 HMI GUI: teaching positions, defining move types (Joint, Linear, Arc, Spline, etc.), setting speed/acceleration, inserting wait or output commands, and organizing sequences or subprograms. After writing, a program source file is uploaded or executed via serial communication with the robot's Teensy firmware, which interprets the commands to drive motors, read encoders, check limit switches, and send feedback.

A signature at the start of the file helps the software identify it: the file begins with the ASCII string "##BEGINNINGOFPROGRAM##" at offset zero.

How to open AR4 files

Important: Different programs may use files with the AR4 file extension for different purposes, so unless you are sure which format your AR4 file is, you may need to try a few different programs.

We have not yet verified any programs for Windows that work with this specific file format. If you know one, please use the 'Suggest a program' link below. Thanks!

Last updated: August 20, 2026

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