53
9.4.4.TCP Position Range
To approach the limit value, the joint attitude needs to be adjusted. In the case where the
other two axes are 0, the TCP position limit value shown in the table below are theoretically
supported.
9.4.5.TCP Operating Speed
The Cartesian speed range is from 1mm/s to 1000mm/s. The maximum speed is also affect-
ed by the payload, speed and posture of the robotic arm. If the speed is set very close to the
limit speed, then the robotic arm will slow down or trigger the error reporting mechanism.
According to the scene, the start-stop time and jitter at the start-stop time can be adjusted.
It is recommended to be within 20 times the [20mm/s²]. The speed and acceleration limits
are different in different poses, theoretically supporting 1000mm/s.
When a command has displacement and rotation, the time required for the displacement
motion and the rotational motion is calculated. The speed depends on the one that takes
more time, but in principle, it is better to separate the displacement from the rotation com-
mand.
9.4.6. Linear Motion
The linear motion of the robotic arm is equipped with the following features:
●
The end motion trajectory is a straight line.
●
In terms of speed, the speed between linear motion commands is 0, and the speed
between each command is discontinuous.
●
In terms of track accuracy, the linear motion command will strictly reach points B and C
from the current point A.
1.In the case where the length of the end tool is more than the end joint of
the robotic arm, the direction of rotation must be clear when setting the
degree of rotation.
2.You must check the TCP offset before recording the Cartesian position.DAN-
GER
CAUTION
Axis
X
Y
Z
roll pitch yaw
Range
±700mm
-400mm~951.5mm
±700mm
±180°