Note: The radius of the arc is smaller than D
AB
and D
BC
.
(5) Radius = 0. There is no arc transition at the turn, it will be a
sharp turn with no deceleration, as shown in the figure below.
Note: If the motion of the robotic arm is a reciprocating linear motion,
you need to set radius=0. If the radius>0, the robotic arm may report a
motion planning error.
(6) Radius <0. There is no arc transition at the turn, this speed will
not be continuous between this and next motion, as shown in the figure
below, speed will decelerate to 0 at point B before moving to C.
Note: Radius <0 cannot realize continuous motion. If you need to plan a
continuous movement of the robotic arm, please make sure Radius≥0.
Wait = false
The wait in the "move (arc) line" command indicates whether it is
necessary to wait for the execution of this command before sending the
next command.
Note: If you need to plan for speed continuous motion, make sure wait =
false, to buffer the commands to be blended
