SIASUN GCR Series, Руководство пользователя

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v: It represents the joint angular velocity, whose unit is % (the percentage of
speed set by the system).It has a value range of
（
0,100].
a: It represents the joint acceleration, whose unit is % (the percentage of
acceleration set by the system).It has a value range of
（
0,100].
Return Value:
none
Movel( pose : p, float : v, float : a, float : rad = 0 );
Function Description:
This command controls the robot end to move from the current state to
the end target position in a straight path.
Parameters Description:
p : A pose data, which is a floating-point array with a length of 6,
corresponds to the pose of the robot end. First three values in the array
represent the robot end position(x,y,z) ,whose unit is mm. Last three values
represent the robot end gesture (Rx, Ry, Rz), whose unit is deg.
v: It represents the robot end velocity, whose unit is mm/s.
a: It represents the robot end acceleration, whose unit is mm/s
2
.
rad: It represents Joint blend radius, whose default value is 0 or -1
indicating no blend. When the value is greater than 0, it means blend with
the next motion command.
Return Value:
none
MoveC( pose : p1, pose : p2, float : v, float : a, float : rad = 0 );
Function Description:
This command controls the robot to make a circular motion. The current
pose point is the starting point. The point p1 is on the path. The point p2 is
the end point.
Parameters Description:
p1: The pose point, which is a floating-point array with a length of 6,
corresponds to one point on the path of circular motion.
p2: The pose point, which is a floating-point array with a length of 6,
corresponds to the end point of circular motion.
v: It represents the robot end velocity, whose unit is mm/s.
a: It represents the robot end acceleration, whose unit is mm/s
2 .
rad: It represents Joint fusion radius, whose default value is 0 or -1
indicating no fusion. When the value is greater than 0, it means fusion with
the next motion command.
Return Value:
none
tcp_move(pose:pose_offset, float : v ,float : a, float : rad);
Function Description: