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).
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)