Function Documentation

This section provides a description of the protocol used to communicate with the Dobot through a remote terminal over a network.

Note

Your CR-Series cobot must be running on firmware version 3.5.1.9 or greater.

Message Format

According to the design, CR-Series robots will open 29999 and 30003 server ports.

Port 29999 (hereinafter referred to as Dashboard port) is responsible for receiving some simple instructions by sending and receiving one by one. That is, after receiving the agreed message format from the client, the Dashboard port will give feedback to the client .

Port 30003 (hereinafter referred to as the real-time feedback port) feeds back the robot information every 8 ms. It only receives the agreed message format from the client but does not give feedback.

Format for sending messages

Message name(Param1,Param2,Param3,...,Paramn)

The message format is shown as above. It consists of a message name, parameters in a bracket. Each parameter is separated by an English comma “,”. A complete message ends up with right parenthesis.

Both message commands and message responses are in ASCII format (string).

Format for Feedback

Feedback when receiving successfully

"Message name(Param1,Param2,Param3,...,Paramn)"

It returns the message name, as shown above.

Feedback when failing to receive

​"could not understand:'Message name(Param1,Param2,Param3,..,Paramn)'"

Communication Protocol - Dashboard Port

The computer can directly send some simple instructions to the robot through port 29999. The table below is the Dashboard instruction list. The Dashboard commands can be used to control the robot, including enabling/disabling and resetting the robot.

Commands Description
EnableRobot enable the robot
DisableRobot disable the robot
ClearError clear the error of the robot
ResetRobot the robot stops its current action, and receives enabling again
SpeedFactor set the global speed ratio
User select the identified user coordinate system
Tool select the identified tool coordinate system
RobotMode mode of robot
PayLoad set the current load
DO set the status of digital output port
DOExecute set the status of digital output port (immediate command)
ToolDO set the status of digital output port of the tool
ToolDOExecute set the status of digital output port of the tool (immediate command)
AO set the voltage of analog output port of controller
AOExecute set the voltage of analog output port of controller (immediate command)
AccJ set the joint acceleration rate. This command is valid only when the motion mode is MovJ, MovJIO, MovJR, JointMovJ
AccL set the Cartesian acceleration rate. This command is valid only when the motion mode is MovL, MovLIO, MovLR, Jump, Arc, Circle
SpeedJ set the joint velocity rate. This command is valid only when the motion mode is MovJ, MovJIO, MovJR, JointMovJ
SpeedL set the Cartesian velocity rate. This command is valid only when the motion mode is MovL, MovLIO, MovLR, Jump, Arc, Circle
Arch set the index of arc parameters (StartHeight, zLimit, EndHeight) in the Jump mode
CP set the continuous path rate during movement
LimZ set the maximum lifting height in Jump mode
SetArmOrientation set the orientation of the arm
PowerOn Power on the robot
RunScript run the script
StopScript stop the script
PauseScript pause the script
ContinueScript continue the script
GetHoldRegs read the holding register value
SetHoldRegs write in the holding register

EnableRobot

  • Function: EnableRobot()
  • Description: enable the robot
  • Parameters: None
  • Supporting port: 29999
EnableRobot()

DisableRobot

  • Function: DisableRobot()
  • Description: disable the robot
  • Parameters: None
  • Supporting port: 29999
DisableRobot()

ClearError

  • Function: ClearError()
  • Description: clear the error of the robot
  • Parameters: null
  • Supporting port: 29999
ClearError()

ResetRobot

  • Function: ResetRobot()
  • Description: stop the robot
  • Parameters: None
  • Supporting port: 29999
ResetRobot()

SpeedFactor

  • Function: SpeedFactor(ratio)
  • Description: set the global speed ratio
  • Parameters:
Parameter Type Description
ratio int speed ratio, range: 0~100 exclusive
  • Supporting port: 29999
SpeedFactor(80)

User

  • Function: User(index)
  • Description: select the identified user coordinate system
  • Parameters:
Parameter Type Description
index int select the identified user coordinate system, range: 0~9
  • Supporting port: 29999
User(1)

Tool

  • Function: Tool(index)
  • Description: select the identified tool coordinate system
  • Parameters:
Parameter Type Description
index int select the identified tool coordinate system, range: 0~9
  • Supporting port: 29999
Tool(1)

RobotMode

  • Function: RobotMode()
  • Description: mode of robot
  • Parameters: None
  • Supporting port: 29999
RobotMode()
  • Return:
Mode Description Note
-1 ROBOT_MODE_NO_CONTROLLER No controller
0 ROBOT_MODE_DISCONNECTED Disconnect
1 ROBOT_MODE_CONFIRM_SAFETY Configure safety parameters
2 ROBOT_MODE_BOOTING Start
3 ROBOT_MODE_POWER_OFF Power off
4 ROBOT_MODE_POWER_ON Power on
5 ROBOT_MODE_IDLE Idle
6 ROBOT_MODE_BACKDRIVE Drag
7 ROBOT_MODE_RUNNING Run
8 ROBOT_MODE_UPDATING_FIRMWAREu Update firmware
9 ROBOT_MODE_ERROR Alarm

PayLoad

  • Function: PayLoad(weight,inertia)
  • Description: set the current load
  • Parameters:
Parameter Type Description
weight double load weight kg
inertia double load inertia kgm²
  • Supporting port: 29999
PayLoad(3,0.4)

DO

  • Function: DO(index,0/1)
  • Description: set the status of digital output port (queue command)
  • Parameters:
Parameter Type Description
index int digital output index, range: 1~24
0/1 bool status of the digital output port. 1: High level; 0: Low level
  • Supporting port: 29999
DO(1,1)

DOExecute

  • Function: DOExecute(index,0/1)
  • Description: set the status of digital output port (immediate command)
  • Parameters:
Parameter Type Description
index int digital output index, range: 1~16
0/1 boo status of the digital output port. 1: High level; 0: Low level
  • Supporting port: 29999
DOExecute(1,1)

ToolDO

  • Function: ToolDO(index,0/1)
  • Description: set the status of digital output port of the tool (queue command)
  • Parameters:
Parameter Type Description
index int digital output index, range: 1 or 2
0/1 bool status of digital output port. 1: high level, 0: low level
  • Supporting port: 29999
ToolDO(1,1)

ToolDOExecute

  • Function: ToolDOExecute(index,0/1)
  • Description: set the status of digital output port of the tool (immediate command)
  • Parameters:
Parameter Type Description
index int digital output index, range: 1 or 2
0/1 bool status of the digital output port. 1: high level; 0: low level
  • Supporting port: 29999
ToolDOExecute(1,1)

AO

  • Function: AO(index,value)
  • Description: set the voltage of analog output port of controller (queue command)
  • Parameters:
Parameter Type Description
index int analog output index, range: 1 or 2
value double voltage of corresponding index, range: 0~10
  • Supporting port: 29999
AO(1,2)

AOExecute

  • Function: AOExecute(index,value)
  • Description: set the voltage of analog output port of controller (immediate command)
  • Parameters:
Parameter Type Description
index int analog output index, range: 1 or 2
value double voltage of corresponding index, range: 0~10
  • Supporting port: 29999
AOExecute(1,2)

AccJ

  • Function: AccJ(R)
  • Description: set the joint acceleration rate. This command is valid only when the motion mode is MovJ, MovJIO, MovJR, JointMovJ
  • Parameters:
Parameter Type Description
R int joint acceleration rate, range: 1~100
  • Supporting port: 29999
AccJ(50)

AccL

  • Function: AccL(R)
  • Description: set the Cartesian acceleration rate. This command is valid only when the motion mode is MovL, MovLIO, MovLR, Jump, Arc, Circle
  • Parameters:
Parameter Type Description
R int Cartesian acceleration rate, range: 1~100
  • Supporting port: 29999
AccL(50)

SpeedJ

  • Function: SpeedJ(R)
  • Description: set the joint velocity rate. This command is valid only when the motion mode is MovJ, MovJIO, MovJR, JointMovJ
  • Parameters:
Parameter Type Description
R int joint velocity rate, range: 1~100
  • Supporting port: 29999
SpeedJ(50)

SpeedL

  • Function: SpeedL(R)
  • Description: set the Cartesian velocity rate. This command is valid only when the motion mode is MovL, MovLIO, MovLR, Jump, Arc, Circle
  • Parameters:
Parameter Type Description
R int Cartesian velocity rate, range: 1~100
  • Supporting port: 29999
SpeedL(50)

Arch

  • Function: Arch(Index)
  • Description: set the index of arc parameters (StartHeight, zLimit, EndHeight) in the Jump mode
  • Parameters:
Parameter Type Description
Index int arc parameters index, range: 0~9
  • Supporting port: 29999
Arch(1)

CP

  • Function: CP(R)
  • Description: set CP rate. CP means continuous path, that is, when the robot arm reaches the end point from the starting point through the intermediate point, it passes through the intermediate point in a right angle or in a curve. This command is invalid for Jump mode.
  • Parameters:
Parameter Type Description
R int continuous path rate, range: 1~100
  • Supporting port: 29999
CP(50)

LimZ

  • Function: LimZ(zValue)
  • Description: set the maximum lifting height in Jump mode
  • Parameters:
Parameter Type Description
zValue int maximum lifting height which cannot exceed the Z-axis limiting position of the robot
  • Supporting port: 29999
LimZ(80)

SetArmOrientation

  • Function: SetArmOrientation(LorR,UorD,ForN,Config6)
  • Description: set the orientation of the arm
  • Parameters:
Parameter Type Description
LorR int Arm direction: forward/backward (1/-1)
UorD int Arm direction: up the elbow/down the elbow (1/-1)
ForN int Whether the wrist is reversed (1/-1)
Config6 int Sixth axis Angle sign
  • Supporting port: 29999
SetArmOrientation(1,1,-1,1)

PowerOn

  • Function: PowerOn()
  • Description: Power on the robot
  • Parameters: None
  • Supporting port: 29999

Note

Once the robot is powered on, you can enable the robot after about 10 seconds.

PowerOn()

RunScript

  • Function: RunScript(projectName)
  • Description: run the script
  • Parameters:
Parameter Type Description
projectName string script name
  • Supporting port: 29999
RunScript(demo)

StopScript

  • Function: StopScript()
  • Description: stop the script
  • Parameters: None
  • Supporting port: 29999
StopScript()

PauseScript

  • Function: PauseScript()
  • Description: pause the script
  • Parameters: None
  • Supporting port: 29999
PauseScript()

ContinueScript

  • Function: ContinueScript()
  • Description: continue the script
  • Parameters: None
  • Supporting port: 29999
ContinueScript()

GetHoldRegs

  • Function: GetHoldRegs(id,addr,count,type)
  • Description: read the holding register value
  • Parameters:
Parameter Type Description
id int device ID of slave station, supporting at most five devices, range: 0~4. You should set it to 0 when accessing the internal slave of controller
addr int starting address of the holding registers. range: 3095~4095
count int read the specified amount of data of type, range: 1~16
type string data type: If it is empty, read 16-bit unsigned integer ( two bytes, occupy one register) “U16”：read 16-bit unsigned integer ( two bytes, occupy one register) “U32”：read 32-bit unsigned integer (four bytes, occupy two registers) “F32”：read 32-bit single-precision floating-point number (four bytes, occupy two registers) “F64”：read 64-bit double-precision floating-point number (eight bytes, occupy four registers)
  • Supporting port: 29999
data = GetHoldRegs(0,3095,1)
# Read a 16-bit unsigned integer starting at address 3095.

SetHoldRegs

  • Function: SetHoldRegs(id,addr,count,table,type)
  • Description: write in the holding register
  • Parameters:
Parameter Type Description
id int device ID of slave station, supporting at most five devices, range: 0~4. You should set it to 0 when accessing the internal slave of controller
addr int starting address of the holding registers. range: 3095~4095
count int write the specified amount of data of type, range: 1~16
table int holding register value
type string data type: If it is empty, read 16-bit unsigned integer ( two bytes, occupy one register) “U16”：read 16-bit unsigned integer ( two bytes, occupy one register) “U32”：read 32-bit unsigned integer (four bytes, occupy two registers) “F32”：read 32-bit single-precision floating-point number (four bytes, occupy two registers) “F64”：read 64-bit double-precision floating-point number (eight bytes, occupy four registers)
  • Supporting port: 29999
SetHoldRegs(0,3095,2,{6000,300}, “U16”)
# Write two 16-bit unsigned integers: 6000 and 300, starting at address 3095.

Communication Protocol — Real-time Feedback Port

Port 30003 (real-time feedback port) is not only used to send motion-related protocols, but has other functions. The client can receive the robot information every 20ms, as shown in the following table. Each packet received through the real-time feedback port has 1440 bytes, which are arranged in a standard format. The following table shows the order of the bytes.

Meaning Type Number of values Size in bytes Byte position value Notes
Message Size unsigned short 1 2 0000 ~ 0001 Total message length in bytes
  unsigned short 3 6 0002 ~ 0007 Reserved bits
Digital input bits double 1 8 0008 ~ 0015 Current state of the digital inputs
Digital outputs double 1 8 0016 ~ 0023 digital output
Robot Mode double 1 8 0024 ~ 0031 Robot mode
Controller Timer double 1 8 0032 ~ 0039 Controller realtime thread execution time
Time double 1 8 0040 ~ 0047 Time elapsed since the controller was started
test_value double 1 8 0048 ~ 0055 Standard values for memory structure test: 0x0123 4567 89AB CDEF
Safety Mode double 1 8 0056 ~ 0063 Safety mode
Speed scaling double 1 8 0064 ~ 0071 Speed scaling of the trajectory limiter
Linear momentum norm double 1 8 0072 ~ 0079 Norm of Cartesian linear momentum
V main double 1 8 0080 ~ 0087 Masterboard: Main voltage
V robot double 1 8 0088 ~ 0095 Masterboard: Robot voltage (48V)
I robot double 1 8 0096 ~ 0103 Masterboard: Robot current
Program state double 1 8 0104 ~ 0111 Program state
Safety Status double 1 8 0112 ~ 0119 Safety status
Tool Accelerometer values double 3 24 0120 ~ 0143 Tool x,y and z accelerometer values
Elbow position double 3 24 0144 ~ 0167 Elbow position
Elbow velocity double 3 24 0168 ~ 0191 Elbow velocity
q target double 6 48 0192 ~ 0239 Target joint positions
qd target double 6 48 0240 ~ 0287 Target joint velocities
qdd target double 6 48 0288 ~ 0335 Target joint accelerations
I target double 6 48 0336 ~ 0383 Target joint currents
M target double 6 48 0384 ~ 0431 Target joint moments (torques)
q actual double 6 48 0432 ~ 0479 Actual joint positions
qd actual double 6 48 0480 ~ 0527 Actual joint velocities
I actual double 6 48 0528 ~ 0575 Actual joint currents
I control double 6 48 0576 ~ 0623 Joint control currents(temporally replaced by 0)
Tool vector actual double 6 48 0624 ~ 0671 Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
TCP speed actual double 6 48 0672 ~ 0719 Actual speed of the tool given in Cartesian coordinates
TCP force double 6 48 0720 ~ 0767 Generalised forces in the TCP
Tool vector target double 6 48 0768 ~ 0815 Target Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
TCP speed target double 6 48 0816 ~ 0863 Target speed of the tool given in Cartesian coordinates
Motor temperatures double 6 48 0864 ~ 0911 Temperature of each joint in degrees celsius
Joint Modes double 6 48 0912 ~ 0959 Joint control modes
V actual double 6 48 960 ~ 1007 Actual joint voltages
  double 54 432 1008 ~ 1439 Reserved bits
TOTAL   183 1440   183 values in a 1440-byte package

Robot Mode returns the mode of robo as follows:

Mode Description Note
-1 ROBOT_MODE_NO_CONTROLLER No controller
0 ROBOT_MODE_DISCONNECTED Disconnect
1 ROBOT_MODE_CONFIRM_SAFETY Configure safety parameter
2 ROBOT_MODE_BOOTING Start
3 ROBOT_MODE_POWER_OFF Power off
4 ROBOT_MODE_POWER_ON Power on
5 ROBOT_MODE_IDLE Idle
6 ROBOT_MODE_BACKDRIVE Drag
7 ROBOT_MODE_RUNNING Run
8 ROBOT_MODE_UPDATING_FIRMWARE Update firmware
9 ROBOT_MODE_ERROR Alarm
  • Description:
    • If the robot is powered off, the mode is 3.
    • If the robot is powered on but not enabled, the mode is 4;
    • If the robot is enabled successfully, the mode is 5.
    • If the robot enters drag mode (enabled state), the mode is 6;
    • If the robot moves, the mode is 7;
    • Priority: Power on < Idle < Drag = Run < Power off < Alarm
    • Alarm is the top priority. When other modes exist simultaneously, if there is an alarm, the mode is set to 9 first;

The following table shows the motion command protocols supported by the real-time feedback port. The real-time feedback port only receives commands but does not give feedback.

Command Description
MovJ point to point movement, the target point is Cartesian point
MovL linear movement, the target point is Cartesian point
JointMovJ point to point movement, the target point is joint point
Jump Jump movement, only supports Cartesian points
RelMovJ move to the Cartesian offset position in a point-to-point mode
RelMovL move to the Cartesian offset position in a straight line
MovLIO set the status of digital output port in straight line movement (can set several groups)
MovJIO set the status of digital output port in point-to-point movement, and the target point is Cartesian point
Arc arc movement, needs to combine with other motion commands
Circle circular movement, needs to combine with other motion commands
ServoJ dynamic following command based on joint space
ServoP dynamic following command based on Cartesian space

MovJ

  • Function: MovJ(X,Y,Z,A,B,C)
  • Description: point to point movement, the target point is Cartesian point
  • Parameters:
Parameter Type Description
X double X-axis coordinates, unit: mm
Y double Y-axis coordinates, unit: mm
Z double Z-axis coordinates, unit: mm
A double A-axis coordinates, unit: °
B double B-axis coordinates, unit: °
C double C-axis coordinates, unit: °
  • Supporting port: 30003
MovJ(-500,100,200,150,0,90)

MovL

  • Function: MovL(X,Y,Z,A,B,C)
  • Description: linear movement, the target point is Cartesian point
  • Parameters:
Parameter Type Description
X double X-axis coordinates, unit: mm
Y double Y-axis coordinates, unit: mm
Z double Z-axis coordinates, unit: mm
A double A-axis coordinates, unit: °
B double B-axis coordinates, unit: °
C double C-axis coordinates, unit: °
  • Supporting port: 30003
MovL(-500,100,200,150,0,90)

JointMovJ

  • Function: JointMovJ(J1,J2,J3,J4,J5,J6)
  • Description: point to point movement, the target point is joint point
  • Parameters:
Parameter Type Description
J1 double J1 coordinates, unit: °
J2 double J2 coordinates, unit: °
J3 double J3 coordinates, unit: °
J4 double J4 coordinates, unit: °
J5 double J5 coordinates, unit: °
J6 double J6 coordinates, unit: °
  • Supporting port: 30003
JointMovJ(0,0,-90,0,90,0)

Jump

Not yet implemented!

RelMovJ

  • Function: RelMovJ(offset1,offset2,offset3,offset4,offset5,offset6)
  • Description: move to the Cartesian offset position in a point-to-point mode
  • Parameters:
Parameter Type Description
offset1 double J1-axis offset, unit: °
offset2 double J2-axis offset, unit: °
offset3 double J3-axis offset, unit: °
offset4 double J4-axis offset, unit: °
offset5 double J5-axis offset, unit: °
offset6 double J6-axis offset, unit: °
  • Supporting port: 30003
RelMovJ(10,10,10,10,10,10)

RelMovL

  • Function: RelMovL(offsetX,offsetY,offsetZ)
  • Description: move to the Cartesian offset position in a straight line
  • Parameters:
Parameter Type Description
offsetX double X-axis offset in the Cartesian coordinate system; unit: mm
offsetY double Y-axis offset in the Cartesian coordinate system; unit: mm
offsetZ double Z-axis offset in the Cartesian coordinate system; unit: mm
  • Supporting port: 30003
RelMovL(10,10,10)

MovLIO

  • Function: MovLIO(X,Y,Z,A,B,C,{Mode,Distance,Index,Status},...,{Mode,Distance,Index,Status})
  • Description: set the status of digital output port in straight line movement, and the target point is Cartesian point
  • Parameters:
Parameter Type Description
X double X-axis coordinates, unit: mm
Y double Y-axis coordinates, unit: mm
Z double Z-axis coordinates, unit: mm
A double A-axis coordinates, unit: °
B double B-axis coordinates, unit: °
C double C-axis coordinates, unit: °
Mode int mode of Distance. 0: distance percentage; 1: distance away from the starting point or target point
Distance int move specified distance. If Mode is 0, Distance refers to the distance percentage between the starting point and target point; range: 0~100. If Distance value is positive, it refers to the distance away from the starting point; If Distance value is negative, it refers to the distance away from the target point
Index int digital output index, range: 1~24
Status int digital output status, range: 0 or 1
  • Supporting port: 30003
MovLIO(-500,100,200,150,0,90,{0,50,1,0})

MovJIO

  • Function: MovJIO(X,Y,Z,A,B,C,{Mode,Distance,Index,Status},...,{Mode,Distance,Index,Status})
  • Description: set the status of digital output port in point-to-point movement, and the target point is Cartesian point
  • Parameters:
Parameter Type Description
X double X-axis coordinates, unit: mm
Y double Y-axis coordinates, unit: mm
Z double Z-axis coordinates, unit: mm
A double A-axis coordinates, unit: °
B double B-axis coordinates, unit: °
C double C-axis coordinates, unit: °
Mode int mode of Distance. 0: distance percentage; 1: distance away from the starting point or target point
Distance int move specified distance. If Mode is 0, Distance refers to the distance percentage between the starting point and target point; range: 0~100. If Distance value is positive, it refers to the distance away from the starting point; If Distance value is negative, it refers to the distance away from the target point
Index int digital output index, range: 1~24
Status int digital output status, range: 0 or 1
  • Supporting port: 30003
MovJIO(-500,100,200,150,0,90,{0,50,1,0})

Arc

  • Function: Arc(X1,Y1,Z1,A1,B1,C1,X2,Y2,Z2,A2,B2,C2)
  • Description: move from the current position to a target position in an arc interpolated mode under the Cartesian coordinate system This command needs to combine with other motion commands to obtain the starting point of an arc trajectory
  • Parameters:
Parameter Type Description
X1 double X1-axis coordinates of arc center point, unit: mm
Y1 double Y1-axis coordinates of arc center point, unit: mm
Z1 double Z1-axis coordinates of arc center point, unit: mm
A1 double A1-axis coordinates of arc center point, unit: °
B1 double B1-axis coordinates of arc center point, unit: °
C1 double C1-axis coordinates of arc center point, unit: °
X2 double X2-axis coordinates of arc ending point, unit: mm
Y2 double Y2-axis coordinates of arc ending point, unit: mm
Z2 double Z2-axis coordinates of arc ending point, unit: mm
A2 double A2-axis coordinates of arc ending point, unit: °
B2 double B2-axis coordinates of arc ending point, unit: °
C2 double C2-axis coordinates of arc ending point, unit: °
  • Supporting port: 30003

Circle

  • Function: Circle(count,X1,Y1,Z1,A1,B1,C1,X2,Y2,Z2,A2,B2,C2)
  • Description: circular movement. This command needs to combine with other motion commands
  • Parameters:
Parameter Type Description
count int number of circles
X1 double X1-axis coordinates, unit: mm
Y1 double Y1-axis coordinates, unit: mm
Z1 double Z1-axis coordinates, unit: mm
A1 double A1-axis coordinates, unit: °
B1 double B1-axis coordinates, unit: °
C1 double C1-axis coordinates, unit: °
X2 double X2-axis coordinates, unit: mm
Y2 double Y2-axis coordinates, unit: mm
Z2 double Z2-axis coordinates, unit: mm
A2 double A2-axis coordinates, unit: °
B2 double B2-axis coordinates, unit: °
C2 double C2-axis coordinates, unit: °
  • Supporting port: 30003

ServoJ

  • Function: ServoJ(J11,J12,J13,J14,J15,J16)
  • Description: dynamic following command based on joint space
  • Parameters:
Parameter Type Description
J11 double J11 coordinates of P1, unit: °
J12 double J12 coordinates of P1, unit: °
J13 double J13 coordinates of P1, unit: °
J14 double J14 coordinates of P1, unit: °
J15 double J15 coordinates of P1, unit: °
J16 double J16 coordinates of P1, unit: °
  • Supporting port: 30003
ServoJ(0,0,-90,0,90,0)

ServoP

  • Function: ServoP(X1,Y1,Z1,A1,B1,C1)
  • Description: dynamic following command based on Cartesian space
  • Parameters:
Parameter Type Description
X1 double X1-axis coordinates, unit: mm
Y1 double Y1-axis coordinates, unit: mm
Z1 dou Z1-axis coordinates, unit: mm
A1 double A1-axis coordinates, unit: °
B1 double B1-axis coordinates, unit: °
C1 double C1-axis coordinates, unit: °
  • Supporting port: 30003
ServoP(-500,100,200,150,0,90)