User Manual

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The following motion modes are in servoj mode:
● Servoj motion: move to the given joint position with the fastest
speed (180°/s) and acceleration (unit: degree/radian). This command
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).
Using this mode requires detailed position planning for each axis
and motion estimation of the robotic arm, which is difficult to
develop.
● Servo_cartesian motion: move to the given cartesian position with
the fastest speed (1m/s) and acceleration (unit: mm). This command