Point-to-point Movement

• Function:

  magician.ptp(mode,x,y,z,r)
  

• Description: the robot arm moves to the target position in a set mode

• Required parameter:

  • mode: PTP mode, range: 0~9. The specific meanings are as follows:

    • 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 joint coordinate system
    • 4: MOVJ mode, (x, y, z, r) is the coordinates of a target point under the joint coordinate system
    • 5: MOVL mode, (x, y, z, r) is the coordinates of a target point under the joint 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
  • x: X-axis coordinates
  • y: Y-axis coordinates
  • z: Z-axis coordinates
  • r: r-axis coordinates

• Return:
  • True: The command has been finished.
  • False: The command has not been finished.

• Example

  magician.ptp(mode=0, x=200, y=100, z=10, r=0)
  

  The robot arm moves from the current position to the target position (200, 100, 10, 0) in JUMP mode.