Dobot CR5 - Motion Parameter Commands

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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MoveJR({20,20,10,0},"SYNC=1")
Table 6.18 MoveR command
Function
MoveR({OffsetX, OffsetY, OffsetZ},” User=1 Tool=2 CP=1 SpeedS=50 AccelS=20
SYNC=1”)
Description
Move from the current position to the offset position in a straight line 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
 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
Go(P1)
MoveR({20,20,20},"AccelS=100 SpeedS=100 CP=100")
Motion Parameter Commands
Table 6.19 Motion parameter command
Command
Description
Accel
Set the acceleration rate. This command is valid only
when the motion mode is Go, Jump, or MoveJ
AccelS
Set the acceleration rate. This command is valid only
when the motion mode is Move, Jump, Arc3, or
Circle3
Speed
Set the velocity rate. This command is valid only when
the motion mode is Go, or MoveJ
SpeedS
Set the velocity rate. This command is valid only when
the motion mode is Move, Jump, Arc3, or Circle3