Dobot CR5 - Page 86

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
81
 AccelS: Acceleration rate. Value range: 1 - 100
 Arch: Arch index. Value range: 0 - 9
 Start: Lifting height
 Zlimit: Maximum lifting height
 End: Dropping height
 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
Jump(P1)
The robot moves to point P1 in the Jump mode
NOTICE
The lifting height and dropping height cannot be higher than Zlimit, to avoid an alarm on
JUMP parameter error. For details about JUMP, please see 2.5.1.1 Joint Interpolated
Motion.
Table 6.13 Circle3 command
Function
Circle3(P1,P2,Count, ” User=1 Tool=2 CP=1SpeedS=50 AccelS=20”)
Description
Move from the current position to a target position in a circular 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
 Count: Number of circles. Value range: 1 - 999
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