Motion Parameters
The parameters of the robotic arm are shown in Table 1.1 and Table 1.2.
Table 1.1 working range of each joint of the robotic arm
Table 1.2 range of various motion parameters of the robotic arm
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 ～ 500mm / 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 500 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.
Joint
Range
1st Axis
±360°
2st Axis
±150°
3st Axis
-3.5°～300°
4st Axis
±360°
5st Axis
±124°
6st Axis
±360°
TCP Motion
Joint Motion
Speed
0～500mm/s
0～180°/s
Acceleration
0～50000mm/s
2
0～1145°/s
2
Jerk
0～10000mm/s
3
0～28647°/s
3
