User Manual

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(2) If you want the robot arm to change its posture during the movement, set the roll, pitch, and
yaw of pose 2 to the desired posture when completing the trajectory;
【center angle (°) () 】: Indicates the degree of the circle. When it is set
to 360, a whole circle can be completed, and it can
be greater than or less than 360;
Note: To achieve smooth motion, you need to set Wait = false.
Example explanation:
In this example, the central angle is set to 3600°, which means that the
robotic arm can draw ten circles at a time, and the robotic arm still stays
at the starting point after drawing a circle.
Judgment of the direction of the robotic arm motion
In the above example, the starting point, pose 1 and pose 2 are:
A (300,0,400,180,0,0) B (350,50,400,180,0,0) C (350,-50,400,180,0,0)
⚫ The robotic arm draws a circle in a clockwise direction, and The
trajectory of the robotic arm is as follows:
⚫ If the positions of point B and C are swapped, point B is (350,-
50,400,180,0,0), point C is (350,50,400,180,0,0), the robotic arm will
draw a circle in a counterclockwise direction. The trajectory of the
robotic arm is as follows: