User Manual

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Python example:

arm.set_servo_angle(angle=[0.0, -45.0, 0.0, 0.0, -45.0, 0.0], speed=20, mvacc=500, wait=True)

arm.set_position(*[300.0, 0.0, 400.0, 0.0, -90.0, 180.0], speed=300, mvacc=2000, radius=-1.0,

wait=True)

move_circle([350.0, 50.0, 400.0, 180.0, -90.0, 0.0], [350.0, -50.0, 400.0, 180.0, -90.0, 0.0], 1000.0,

speed=300, mvacc=2000, wait=True)

set_servo_angle interface: see Table 2.1.

set_position interface: see Table 2.2.

The move_circle interface is described in Table 2.4:

Table 2.4 move_circle description

move_circle

Description

This motion calculates the trajectory of a space circle based on three-point

coordinates. The three-point coordinates are (current starting point, pose 1,

pose 2)

Parameter

pose1

Cartesian coordinates

[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；

pose2

Cartesian coordinates

[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；

percent

Percentage of arc moved

is_radian

If is_radian = True, the unit of roll / pitch / yaw is rad;

If is_radian = False, the unit of roll / pitch / yaw is °;

speed

TCP motion speed (mm / s, rad / s);

mvacc

TCP motion acceleration (mm / s

, rad / s

);

mvtime

0, reserved;