UFactory xArm - Page 197

197
if it is arc linear motion(blended), radius> 0;
is_radian
if is_radian = True, the unit of roll / pitch / yaw is rad;
if is_radian = False, the unit of roll / pitch / yaw is °;
speed
TCP motion speed (mm / s, rad / s);
mvacc
TCP motion acceleration (mm / s
2
, rad / s
2
);
mvtime
0, reserved;
relative
if relative = True, it is relative motion; if relative = True, it is not
relative motion;
wait
if wait = True, wait for the current commands to finish before
sending the next commands;
if wait = False, send the next commands directly;
Note: If it is xArm5, roll and pitch must be set to roll = ± 180 ° and pitch = 0 °.
2.2.2.2. Arc Linear Motion
Characteristics of Arc Linear Motion:
Arc linear motion (Lineb), inserting arc transitions between two straight
lines, is a way to plan the continuous movement of the robotic arm. The
following figure is a simple example of continuous motion using a
circular arc linear motion planning robotic arm.
Note: When the xArm firmware version≥1.6.0, if you need to plan Lineb
motion, you need to adjust the TCP speed below 200mm/s for
debugging, otherwise there will be a high security risk.
Blockly：