Point-to-point Movement with Slideway

• Function:

  magician.set_ptpwithl_cmd(mode, x, y, z, r, l)
  

• Description: perform point-to-point movement with slideway

• 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
  • l: coordinates of slideway

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

• Example

  magician.set_ptpwithl_cmd(mode=1, x=200, y=100, z=10, r=0, l=100)