【Set TCP acceleration（）mm/s²】: Set the acceleration of the linear
motion in mm/s
2
.
【move(arc) line X() Y()Z() Roll() Pitch() Yaw() Radius() Wait(true/false)
【move】【edit】】: Indicates the Cartesian coordinate value of the
linear motion and the TCP rotation angle in mm and °.
Note: Cartesian motion is TCP straight-line motion.
The interface set_position() is described in Table 2.2:
Table 2.2 set_position description
set_position
Description
Sets the Cartesian coordinate value of the linear motion
Parameter
x
coordinate x, (unit: mm)
y
coordinate y, (unit: mm)
z
coordinate z, (unit: mm)
roll
attitude roll（default unit is °）:
Unit: if is_radian = True, the unit is rad; if is_radian =
False, the unit is °;
pitch
attitude pitch (default unit is °):
Unit: if is_radian = True, the unit is rad;
if is_radian =
False, the unit is °;
yaw
attitude yaw (default unit is °):
Unit: if is_radian = True, the unit is rad;
if is_radian =
False, the unit is °);
radius
radius: if it is a linear motion, radius <0 / radius = None;
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;
