User Manual

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has no buffer, only execute the latest received target point, and the
user needs to enter the servoj mode to use. In servoj mode, the
maximum receiving frequency of the control box is 250Hz (the
maximum receiving frequency of the version before 1.4.0 is 100Hz).
If the frequency of sending commands exceeds 250Hz, the
redundant commands will be lost. The xArm-Python-SDK interface
function we provide also reserves the speed, acceleration and time
settings, but they will not work at present. The suggested way of use:
If you want to plan your track, you can use this command to issue a
smoothed track point with interpolation at a certain frequency
(preferably 100Hz or 200 Hz), similar to the position servo control
command. (Note: this execution is similar to the step response, for
safety considerations, do not give a distant target position at once).
It is recommended that the frequency of user issuing commands be
controlled within the range of 30Hz-250Hz. If the frequency is lower
than 30Hz, the motion of the robotic arm may be discontinuous.
Using this mode requires planning the fine position of each axis and
predicting the motion behavior of the robotic arm, which is difficult
to develop.