UFactory 850, Руководство пользователя

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Note:
1. In the TCP motion (Cartesian space motion) commands (set_position () function
of the SDK), If a motion command involves both position transformation and
attitude transformation, the attitude rotation speed is generally calculated
automatically by the system. In this situation, the specified speed parameter is the
maximum linear speed, range from: 0 ～ 1000mm / s.
2. When the expected TCP motion only changes the attitude (roll, pitch, yaw), with
position (x, y, z) remains unchanged, the specified speed is the attitude rotation
speed, so the range 0 to 1000 corresponds to 0 to 180 ° / s.
Unit Definition
The Python / Blockly examples and the units standard in the
communication protocol are shown in Table 1.3.
Table 1.3. Default units in Python / Blockly example and Communication
Protocol
Parameter Python-SDK Blockly Communication
X（Y/Z） millimeter（mm） millimeter（mm） millimeter（mm）
Roll（Pitch/Yaw） degree（°） degree（°） radian（rad）
J
1
（J
2
/J
3
/J
4
/J
5
/J
6
/J
7
） degree（°） degree（°） radian（rad）
TCP Speed mm/s mm/s mm/s
TCP Acceleration mm/s² mm/s² mm/s²
TCP Jerk mm/s³ mm/s³ mm/s³
Joint Speed °/s °/s rad/s
Joint Acceleration °/s² °/s² rad/s²
Speed 0～1000mm /s 0～180°/s
Acceleration 0～50000mm /s
2
0～1145°/s
2
Jerk 0～100000mm /s
3
0～28647°/s
3