UFactory 850 - Page 168

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speed
joint speed (the default unit is ° / s):
Unit: if is_radian = True, the unit is rad / s; if is_radian = False, the
unit is ° / s;
mvacc
joint acceleration (default unit is ° / s
2
)
Unit: if is_radian = True, the unit is rad / s
2
; if is_radian = False, the
unit is ° / s
2
;
is_radian
roll / pitch / yaw Whether it is measured in radian (default is_radian
= False)
If is_radian = True, the unit of roll / pitch / yaw is radian;
If is_radian = False, the unit of roll / pitch / yaw is degree (°);
wait
If wait = True, wait for the current commands to finish before
sending the next commands;
If wait = False, send the next commands directly;
mvtime
0, reserved；
Note:
1. If the joint angle is to be set in radian, then is_radian = True;
ex: code = arm.set_servo_angle (servo_id = 1, angle = 1.57, is_radian = True)
2. To wait for the robotic arm to complete the current commands before returning,
wait = True;
ex: code = arm.set_servo_angle (servo_id = 1, angle = 45, is_radian = False, wait
= True)
Continuous Joint Motion
Inserting an arc transition between two joint motion commands is a way to plan
the continuous joint motion of the robotic arm.