Dobot CR5 - Six-axis Force Sensor Commands

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
87
Figure 6.1 Continuous path
Table 6.26 LimZ command
Function
LimZ(zValue)
Description
Set the maximum lifting height in Jump mode
Parameter
zValue: The maximum lifting height which cannot exceed the Z-axis limiting position of the
robot
Example
LimZ(80)
Jump(P,” Start=10 Zlimit=LimZ End=50”)
Six-axis Force Sensor Commands
Table 6.27 Six-axis force sensor command
Command
Description
SixForceHome
Six-axis force sensor homing command
Spiral
Six-axis force sensor spiral motion command
Rotation
Six-axis force sensor rotation motion command
Linear
Six-axis force sensor linear motion command
Table 6.28 Six-axis force sensor homing command
Function
SixForceHome
Description
Homing six-axis force sensor
Parameter
None
Example
SixForceHome(): execute the command to home six-axis force sensor