Dobot CR5 - Page 88

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
83
Table 6.16 GoR command
Function
GoR({OffsetX, OffsetY, OffsetZ},” User=1 Tool=2 CP=1 Speed=50 Accel=20 SYNC=1 ”)
Description
Move from the current position to the offset position in a point-to-point mode under the Cartesian
coordinate system
Parameter
Required parameter: OffsetX, OffsetY, OffsetZ: X, Y, Z axes offset in the Cartesian coordinate
system
Unit: mm
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
 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
Go(P1)
GoR({10,10,10},"Accel=100 Speed=100 CP=100")
Table 6.17 MoveJR command
Function
MoveJR({Offset1, Offset2, Offset3, Offset4, Offset5, Offset6},” CP=1 Speed=50
Accel=20 SYNC=1”)
Description
Move from the current position to the offset position in a point-to-point motion under the Joint
coordinate system
Parameter
Required parameter: Offset1 - Offset6: J1 - J6 axes offset.
Unit: °
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
Go(P1)