UFactory 850 - Unit Definition

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Note:
1. In the TCP motion (Cartesian space motion) commands (set_position () function
of the SDK), If a motion command involves both position transformation and
attitude transformation, the attitude rotation speed is generally calculated
automatically by the system. In this situation, the specified speed parameter is the
maximum linear speed, range from: 0 ～ 1000mm / s.
2. When the expected TCP motion only changes the attitude (roll, pitch, yaw), with
position (x, y, z) remains unchanged, the specified speed is the attitude rotation
speed, so the range 0 to 1000 corresponds to 0 to 180 ° / s.
Unit Definition
The Python / Blockly examples and the units standard in the
communication protocol are shown in Table 1.3.
Table 1.3. Default units in Python / Blockly example and Communication
Protocol
Parameter
Python-SDK
Blockly
Communication
X（Y/Z）
millimeter（mm）
millimeter（mm）
millimeter（mm）
Roll（Pitch/Yaw）
degree（°）
degree（°）
radian（rad）
J
1
（J
2
/J
3
/J
4
/J
5
/J
6
/J
7
）
degree（°）
degree（°）
radian（rad）
TCP Speed
mm/s
mm/s
mm/s
TCP Acceleration
mm/s²
mm/s²
mm/s²
TCP Jerk
mm/s³
mm/s³
mm/s³
Joint Speed
°/s
°/s
rad/s
Joint Acceleration
°/s²
°/s²
rad/s²
Speed
0～1000mm /s
0～180°/s
Acceleration
0～50000mm /s
2
0～1145°/s
2
Jerk
0～100000mm /s
3
0～28647°/s
3