Dobot CR5 - Page 93

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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Table 6.29 Six-axis force sensor spiral command
Function
Spiral(P, User, Tool, Direction, SpeedC, Force, Insertion, Perturn, PeckMode, MaxValue)
Description
The robot arm performs a spiral motion between the current position and the specified position to
find the hole position. The specified point needs to be closer to the hole position, which is the
starting point for hole position exploration.
Parameter
 P: the specified position
 User: User coordinate system, value range: 0~9
 Tool: Tool coordinate system, Value range: 0~9
 Direction: Jack direction (0: Forward, 1: Reverse)
 SpeedC: Jack speed(mm/s)
 Force: Spiral threshold (N)
 Insertion: Jack threshold (N)
 Perturn: Spiral radius (mm)
 PeckMode: Point contact mode (ON/OFF)
 MaxValue: Maximum spiral radius (mm)
Example
Spiral(P1,User=1 Tool=2 Dirction=0 SpeedC=5 Force =10 Insertion=3 Perturn=0.7
PeckMode=OFF MaxValue =5”)
Do a spiral motion between the current position and P1 to find the hole position. When the
resistance in the direction of the jack is greater than the Force threshold, the robot performs a
spiral motion to explore the hole position. When the resistance in the direction of the jack is less
than the Insertion threshold, the robot moves in the direction of the jack to perform the jack work.
Table 6.30 Six-axis force sensor rotation command
Function
Rotation (P, User, Tool, Direction, SpeedC, Force, RotationSpeed, MaxTorque,
PeckMode, MaxValue)
Description
The robotic arm rotates between the current position and the specified position to find the hole
position. The specified point needs to be close to the hole position, which is the starting point for
hole position exploration.