Dobot CR5 - Pose Getting Command

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
94
Description
Get the current time
Parameter
None
Return
Current time
Example
Go(P2, " Speed=100 Accel=100")
local time1=Systime()
for i=1,10 do
Jump(P1, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")
Jump(P2, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")
end
local time2=Systime()
local time = time2 - time1
Sleep(1000)
Pose Getting Command
Table 6.43 Pose command (1)
Function
GetPose()
Description
Get the current pose of the robot under the Cartesian coordinate system
If you have set the User or Tool coordinate system, the current pose is under the current User or
Tool coordinate system
Parameter
None
Return
Cartesian coordinate of the current pose
Example
local currentPose = GetPose()
--Get the current pose
local liftPose = {coordinate = {currentPose.coordinate[1], currentPose. coordinate[2],
currentPose. coordinate[3],currentPose. coordinate[4] }, tool = currentPose.tool, user =
currentPose.user}
-- Lift a certain height
Go(liftPose,"Speed=100 Accel=100")
Go(P1)
Table 6.44 Pose command (2)
Function
GetAngle()