Dobot M1 User Guide 2 Introduction
Issue V1.3.4 (2019-05-23) User Guide Copyright © Yuejiang Technology Co., Ltd
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direction.
2.3.4.2 Point to Point Mode (PTP)
PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The
trajectory of playback depends on the motion mode.
MOVJ: Joint movement. From point A to point B, each joint will run from the initial angle
to its target angle, regardless of the trajectory, as shown in Figure 2.7.
Figure 2.7 MOVL/MOVJ mode
MOVL: Rectilinear movement. The joints will perform a straight line trajectory from
point A to point B, as shown in Figure 2.7.
JUMP: From point A to point B, The joints will move in the MOVJ mode, of which the
trajectory looks like a door, as shown in Figure 2.8.
Move up to the lifting Height (Height) in the MOVJ mode.
Move up to the maximum lifting height (Limit).
Move horizontally to a point that is above B by height.
Move down to a point that is above B by height, which the height of the point
is that of point B plus Height.
Move down to Point B.
Figure 2.8 JUMP mode
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