UFactory 850, User Manual

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Cartesian coordinates (unit: mm), inserting an arc between
two straight lines for a smooth transition, and the speed
between each command is continuous.
Click to see code: move_arc_lines()
● Circular Motion: Circular motion calculates the trajectory of
the spatial circle according to the three-point coordinates,
the three-point coordinates are starting point, parameter 1
and parameter 2.
Click to see code: move_circle()
● Mode 1: Servoj mode.
● Servoj motion: move to the given joint position with the
fastest speed (180°/s) and acceleration (unit: degree/radian).
This command has no buffer, only execute the latest received
target point, and the user needs to enter the servoj mode to
use. In servoj mode, the maximum receiving frequency of the
control box is 250 Hz (the maximum receiving frequency of
the version before 1.4.0 is 100 Hz). If the frequency of
sending commands exceeds 250Hz, the redundant
commands will be lost. The 850-Python-SDK interface