Dobot CR5 - Page 85

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
80
Description
Move from the current position to a target position in an arc interpolated mode under the Cartesian
coordinate system
This command needs to combine with other motion commands, to obtain the starting point of an
arc trajectory
Parameter
Required parameter:
 P1: Middle point, which is user-defined or obtained from the TeachPoint page. Only
Cartesian coordinate points are supported
 P2: End 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
While true do
Go(P1)
Arc3(P2,P3)
end
The robot cycles from point P1 to point P3 in the arc interpolated mode
Table 6.12 Jump command
Function
Jump(P,” User=1 Tool=2 SpeedS=50 AccelS=20 Start=10 Zlimit=80 End=50 SYNC=1”)
Description
The robot moves from the current position to a target position in the Move mode. The trajectory
looks like a door
Parameter
Required parameter: P: Indicate the target point, which is user-defined or obtained from the
TeachPoint page. Only Cartesian coordinate points are supported. Also, the target point cannot
be higher than Zlimit, to avoid an alarm about JUMP parameter error
Optional parameter:
 User: Indicate User coordinate system. Value range: 0 - 9
 Tool: Indicate Tool coordinate system. Value range: 0 - 9
 SpeedS: Velocity rate. Value range: 1 - 100