Dobot CR5 - Page 84

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
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coordinate system
Parameter
Required parameter: P: Indicate the joint angle of the target point, which cannot be obtained from
the TeachPoint page. You need to define the joint coordinate point before calling this command
Optional parameter:
 CP: Whether to set continuous path function. Value range: 0 - 100
 Speed: Velocity rate. Value range: 1 - 100
 Accel: Acceleration rate. Value range: 1 - 100
 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous
execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely
Example
local P = {joint={0,-0.0674194,0,0}}
MoveJ(P)
Table 6.10 Move command
Function
Move(P,”User=1 Tool=2 CP=1 SpeedS=50 AccelS=20 SYNC=1”)
Description
Move from the current position to a target position in a straight line under the Cartesian coordinate
system
Parameter
Required parameter: P: Indicate the target point, which is user-defined or obtained from the
TeachPoint page. Only Cartesian coordinate points are supported
Optional parameter:
 User: Indicate User coordinate system. Value range: 0 - 9
 Tool: Indicate Tool coordinate system. Value range: 0 - 9
 CP: Whether to set continuous path function. Value range: 0 - 100
 SpeedS: Velocity rate. Value range: 1 - 100
 AccelS: Acceleration rate. Value range: 1 - 100
 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous
execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely
Example
The robot moves to point P1 as the default setting
Move(P1)
Table 6.11 Arc3 command
Function
Arc3(P1,P2, ” User=1 Tool=2 CP=1 SpeedS=50 AccelS=20 SYNC=1”)