UFactory 850, User Manual

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function we provide also reserves the speed, acceleration
and time settings, but they will not work at present. The
suggested way of use: If you want to plan your track, you can
use this command to issue a smoothed track point with
interpolation at a certain frequency (preferably 100Hz or 200
Hz), similar to the position servo control command. (Note:
this execution is similar to the step response, for safety
considerations, do not give a distant target position at once).
Using this mode requires detailed position planning for each
axis and motion estimation of the robotic arm, which is
difficult to develop.
Click to see code: set_servo_angle_j()
● Servo_cartesian motion: move to the given cartesian position
with the fastest speed (1 m/s) and acceleration (unit: mm).
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 250 Hz, the redundant
commands will be lost. The 850-Python-SDK interface