UFactory 850 - Page 173

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arm.set_tcp_jerk(2000)
arm.set_position(x=205.0, y=100.0, z=110.4, roll=180.0, pitch=0.5, yaw=0.0, speed=100, radius=-
1.0, wait=True)
arm.set_position(x=205.0, y=120.0, z=110.4, roll=180.0, pitch=0.5, yaw=0.0, speed=100, radius=-
1.0, wait=True)
arm.set_position(x=205.0, y=140.0, z=110.4, roll=180.0, pitch=0.5, yaw=0.0, speed=100, radius=-
1.0, wait=True)
arm.reset()
The interface set_position() is described in Table 2.2:
Table 2.2 set_position description
set_position
Description
Sets the Cartesian coordinate value of the linear motion
Parameter
x
coordinate x, (unit: mm)
y
coordinate y, (unit: mm)
z
coordinate z, (unit: mm)
roll
attitude roll（default unit is °）:
Unit: if is_radian = True, the unit is rad; if is_radian = False, the unit
is °;
pitch
attitude pitch (default unit is °):
Unit: if is_radian = True, the unit is rad; if is_radian = False, the
unit is °;
yaw
attitude yaw (default unit is °):
Unit: if is_radian = True, the unit is rad; if is_radian = False, the
unit is °);
radius
radius: if it is a linear motion, radius <0 / radius = None;
if it is arc linear motion(blended), radius> 0;
is_radian
if is_radian = True, the unit of roll / pitch / yaw is rad;