Dobot CR5 - Input;output Commands

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
89
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: Rotation threshold (N)
 RotationSpeed: Rotation speed (°/s)
 MaxTorque: Maximum torque (Nm)
 PeckMode: Point contact mode (ON/OFF)
 MaxValue: Maximum spiral radius (mm)
Example
Rotation (P1, “User=1 Tool=2 Dirction=0 SpeedC =5 Force =10 RotationSpeed=5 MaxTorque=1
PeckMode=OFF MaxValue =45”)
Do a rotation 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
rotation motion to explore the hole position. When the resistance in the direction of the jack is
less than the Force threshold, the robot moves in the direction of the jack to perform the jack
work.
Table 6.31 Six-axis force sensor linear command
Function
Linear (User, Tool, Direction, SpeedC, Force, MaxValue)
Description
The robot arm makes a linear jack movement in the direction of the hole
Parameter
 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: Rotation threshold (N)
 MaxValue: Maximum spiral radius (mm)
Example
Linear(“User=1 Tool=2 Dirction=0 SpeedC =5 Force=10 MaxValue=45”)
Do a linear jack movement at the current hole position. When the resistance in the insertion
direction is greater than the Force threshold, the insertion is considered complete.
Input/output Commands