Dobot CR5 - Page 87

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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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
Go(P1)
Circle3(P2,P3,1)
Robot cycles from point P1 to point P3 in the circular interpolated mode
Table 6.14 RP command
Function
RP(P1, {OffsetX, OffsetY, OffsetZ})
Description
Set the X, Y, Z axes offset under the Cartesian coordinate system to return a new Cartesian
coordinate point
The robot can move to this point in all motion commands except MoveJ
Parameter
 P1: Indicate the current Cartesian coordinate point, which is user-defined or obtained from
the TeachPoint page. Only Cartesian coordinate points are supported
 OffsetX，OffsetY，OffsetZ: X, Y, Z axes offset in the Cartesian coordinate system
Unit: mm
Return
Cartesian coordinate point
Example
P2=RP(P1, {50,10,32})
Move(P2) or Move(RP(P1, {50,10,32}))
Table 6.15 RJ command
Function
RJ(P1, {Offset1, Offset2, Offset3, Offset4, Offset5, Offset6})
Description
Set the joint offset in the Joint coordinate system to return a new joint coordinate point
The robot can move to this point only in MoveJ command
Parameter
 P1: Indicate the current joint coordinate point, which cannot be obtained from the
TeachPoint page. You need to define the joint coordinate point before calling this command
 Offset1~Offset6: J1 - J6 axes offset.
Unit: °
Return
Joint coordinate point
Example
local P1 = {joint={0,-0.0674194,0,0}}
P2=RJ(P1, {60,50,32,30})
MoveJ(P2) or MoveJ(RJ(P1, {60,50,32,30}))