User Manual

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kinematics. Therefore, there may be no solution, multiple

solutions, and approximated solutions; and due to the nonlinear

relationship between the joint space and Cartesian space, the

joint motion may exceed its maximum speed and acceleration

limits.

Blockly example:

【Set TCP speed（）mm/s】: Set the speed of the linear motion in

mm/s.

【Set TCP acceleration（）mm/s²】: Set the acceleration of the linear

motion in mm/s

【move(arc) line X() Y()Z() Roll() Pitch() Yaw() Radius() Wait(true/false)

【move】【edit】】: Indicates the Cartesian coordinate value of the

linear motion and the TCP rotation angle in mm and °.

Note: Cartesian motion is TCP straight-line motion.

Python example:

arm.set_tcp_jerk(2000)

arm.set_position(x=205.0, y=100.0, z=110.4, roll=180.0, pitch=0.5, yaw=0.0, speed=100,

radius=-1.0, wait=True)