Dobot M1 User Guide
2
Introduction
Issue V1.0.4 (2018-01-31)
User Guide
Copyright © Yuejiang Technology Co., Ltd
9
direction.
2.3.4.2
Point to Point Mode (PTP)
PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The
trajectory of playback depends on the motion mode.
MOVJ: Joint movement. From point A to point B, each joint will run from initial angle to
its target angle, regardless of the trajectory, as shown in Figure 2.7.
Figure 2.7 MOVL/MOVJ mode
MOVL: Rectilinear movement. The joints will perform a straight line trajectory from
point A to point B, as shown in Figure 2.7.
JUMP: From point A to point B, The joints will move in MOVJ mode, of which the
trajectory looks like a door, as shown in Figure 2.8.
Move up to the lifting Height (
Height
) in MOVJ mode.
Move up to the maximum lifting height (
Limit
).
Move horizontally to a point that is above B by height.
Move down to a point that is above B by height, which the height of the point
is that of point B plus
Height
.
Move down to Point B.
A
B
①
②
③
④
⑤
▲
▶
▶
▼
Height
Limit
Figure 2.8 JUMP mode
