Point-to-point Movement

• Function:

  m_lite.set_ptpcmd(ptp_mode,x,y,z,r)
  

• Description: move from the current position to a target position

• Required parameter:

  • x: X-axis coordinates, data type: float
  • y: Y-axis coordinates, data type: float
  • z: Z-axis coordinates, data type: float
  • r: R-axis coordinates, data type: float
  • ptp_mode: PTP mode, data type: int, range: 0~9
    • 0: JUMP mode, (x, y, z, r) is the coordinates of a target point under the Cartesian coordinate system
    • 1: MOVJ mode, (x, y, z, r) is the coordinates of a target point under the Cartesian coordinate system
    • 2: MOVL mode, (x, y, z, r) is the coordinates of a target point under the Cartesian coordinate system
    • 3: JUMP mode, (x, y, z, r) is the coordinates of a target point under the Cartesian coordinate system
    • 4: MOVJ mode, (x, y, z, r) is the coordinates of a target point under the Cartesian coordinate system
    • 5: MOVL mode, (x, y, z, r) is the coordinates of a target point under the Cartesian coordinate system
    • 6: MOVJ mode, (x, y, z, r) is the coordinate increment under the joint coordinate system
    • 7: MOVL mode, (x, y, z, r) is the coordinate increment under the Cartesian coordinate system
    • 8: MOVJ mode, (x, y, z, r) is the coordinate increment under the Cartesian coordinate system
    • 9: JUMP mode, the mode is MOVL when the robot is moving. (x, y, z, r) is the coordinate increment under the Cartesian coordinate system

• Return:

  • True: The command has been finished.
  • False: The command fails to be finished

• Example

  m_lite.set_ptpcmd(ptp_mode=0, x=200, y=20, z=10, r=0)
  

  The robot arm moves from the current position to the target position (200, 20, 10, 0) in JUMP mode.