Motion

Motion commands except move_xxx_until do not wait for motion to complete. If you need to wait for motion to complete, use sync().

Start Recording Trajectory 3.1.11

Starts recording a motion trajectory.

Function: start_record_trajectory from the lua module
Parameters:
1. time: [float] Sampling period, minimum 0.01s, default 0.1s. Optional
Returns: [bool] Whether executed successfully

Example

start_record_trajectory(0.01)

End Recording Trajectory 3.1.11

Ends recording a motion trajectory and stores it under name.

Function: end_record_trajectory from the lua module
Parameters:
1. name: [str] Trajectory name
Returns: [bool] Whether executed successfully

Example

end_record_trajectory("test")

Replay Trajectory 3.1.11

Replays a motion trajectory with the specified name.

Function: move_trajectory from the lua module
Parameters:
1. name: [str] Trajectory name
Returns: [int] Motion ID (motion_id), or throws error

Example

motion_id = move_trajectory("test")

Enter Teaching Mode

When the robot is in Idle state, calling this command enters teaching (free drive) mode. In teaching mode, each robot joint can be freely dragged, also known as free drive mode. End-effector payload configuration affects teaching. If the set value is larger than the actual payload, the robot will exert upward force, and vice versa. Please check carefully.

WARNING

When the robot is not in idle state, calling this command will produce error 1000: Robot must be idle to teach.

Function: teach_mode from the lua module
Parameters: none
Returns: [bool] Whether executed successfully

Example

teach_mode()

Exit Teaching Mode

When the robot is in Teaching state (teaching/free drive mode), calling this command exits teaching mode and returns to Idle state. Calling in other modes does not produce an error.

Function: end_teach_mode from the lua module
Parameters: none
Returns: [bool] Whether executed successfully

Example

end_teach_mode()

Pause Motion 3.1.24

Pauses all motion. Does not affect task running status.

Function: pause_move from the lua module
Parameters: none
Returns: [bool] Whether executed successfully

Example

pause_move()

Resume Motion 3.1.24

Resumes all motion. Does not affect task running status.

Function: resume_move from the lua module
Parameters: none
Returns: [bool] Whether executed successfully

Example

resume_move()

Skip Motion

Skips the current motion. This is the internal implementation mechanism of move_xxx_until series commands.

Function: skip_move from the lua module
Parameters: none
Returns: [bool] Whether executed successfully

Example

skip_move()

Stop Motion

Stops all motion, but cannot cancel subsequent newly issued motion commands.

Function: stop_move from the lua module
Parameters: none
Returns: [bool] Whether executed successfully

Example

stop_move()

You can implement move_until functionality with the following code:

disable_auto_sync()

motion_id = movej({j1 = 0, j2 = 1.57, j3 = -1.57, j4 = 0, j5 = 3.14, j6 = 3.14}, 1.0, 0.2, 0, 0)
function wait_io()
  while get_tcp_dio(1) != 1 do
    wait(10)
  end
  stop_move()
end
task_wait_move = async_task(wait_move, motion_id)
task_wait_io = async_task(wait_io)
wait_any(task_wait_move, task_wait_io) -- Wait for any task to complete

Wait for Motion Completion 3.1.23

Waits for the specified motion to complete.

Function: wait_move from the lua module
Parameters:
1. motion_id: [int] Motion ID returned by move_xxx. Optional, default is 0, waits for all motion to complete
Returns: [bool] Whether executed successfully

Example

motion_id = movej({j1 = 0, j2 = 1.57, j3 = -1.57, j4 = 0, j5 = 3.14, j6 = 3.14}, 1.0, 0.2, 0, 0)
wait_move(motion_id)

Joint Motion

Executes linear motion in joint space. Using this command, the robot must be stationary or the previous command must be movej or movel with blending.

This call returns immediately and does not wait for motion to complete. You can query status until idle via get_robot_mode, or call sync to make the robot wait synchronously until all current commands complete.

Function: movej from the lua module
Parameters:
1. p: [Pose] Target position. Can be joint position {j1 = 0.1, j2 = 0.2, j3 = 0.2, j4 = 0.3, j5 = 0.1, j6 = 0.2} or Cartesian position {x, y, z, rz, ry, rx} (converted to joint position via inverse kinematics). See Position and Orientation for details
2. a: [float] Main axis joint acceleration (rad/s²), max settable to maximum acceleration in safety settings
3. v: [float] Main axis joint velocity (rad/s), max settable to maximum velocity in safety settings
4. t: [float] Motion time (s). Optional, default 0
  - When t > 0, velocity v and acceleration a parameters are invalid.2.1
  - Due to maximum acceleration and velocity in safety settings, motion time will be automatically extended
5. r: [float] Blending radius (m). Optional, default 0. Used to specify path smoothness
  - 0 disables smooth motion.
  - r > 0 enables smooth motion (max blending radius is 1 m), transition may not pass through target position
Returns: [int] Motion ID (motion_id), or throws error

Example

motion_id = movej({j1 = 0, j2 = 1.57, j3 = -1.57, j4 = 0, j5 = 3.14, j6 = 3.14}, 1.0, 0.2, 0, 0)

Joint Motion Until auto_sync

Executes a motion command, stops current motion when a condition is met during motion, using the move until series commands.

Compared to Joint Motion, the blending radius r is replaced with a callback function fn. The effect of this callback function is that when the motion command executes, the system calls this function once per cycle (about 10ms). If the function returns true, it automatically calls Stop Motion to stop the current motion. If the function never returns true, the robot will eventually move to p. If the function cannot complete within 10ms, it will cause skipping of subsequent cycle checks.

Function: movej_until from the lua module
Parameters:
1. p: [Pose] Target position, same as Joint Motion
2. a: [float] Joint acceleration (rad/s²)
3. v: [float] Joint velocity (rad/s)
4. t: [float] Motion time (s). Optional, default 0
5. fn: [function] Condition callback function, executed once per cycle, returns true to stop current motion
Returns: [bool] Whether executed successfully

Example

In Lua syntax, functions can be anonymous.

movej_until({j1 = 0, j2 = 1.57, j3 = -1.57, j4 = 0, j5 = 3.14, j6 = 3.14}, 1.2, 0.2, 0, function()
  return get_aio(2) > 10
end)

Linear Motion

Executes linear motion path in tool space. Using this command, the robot must be stationary or the previous command must be movej or movel with blending.

Function: movel from the lua module
Parameters:
1. p: [Pose] Target position. Can be Cartesian position {x, y, z, rz, ry, rx} or joint position (converted to Cartesian position via forward kinematics)
2. a: [float] Tool space acceleration (m/s²)
3. v: [float] Tool space velocity (m/s). Note that velocity and acceleration here refer to tool space description
4. t: [float] Motion time (s). Optional, default 0
5. r: [float] Blending radius (m). Optional, default 0
Returns: [int] Motion ID (motion_id), or throws error

WARNING

Abnormalities occur near singular positions and workspace boundaries. Use Joint Motion instead.

Example

movel({0.2, 0.5, 0.4, 0, 0, 1.57}, 1.0, 0.2, 0, 0)
movel({j1 = 0, j2 = 1.57, j3 = -1.57, j4 = 0, j5 = 3.14, j6 = 3.14}, 1.0, 0.2, 0, 0)

Linear Motion Until auto_sync

Executes linear motion path in tool space, stops when a specified condition is met.

Refer to Linear Motion and Joint Motion Until descriptions.

Function: movel_until from the lua module
Parameters:
1. p: [Pose] Target position, same as Linear Motion
2. a: [float] Tool space acceleration (m/s²)
3. v: [float] Tool space velocity (m/s)
4. t: [float] Motion time (s). Optional, default 0
5. fn: [function] Condition callback function, executed once per cycle, returns true to stop current motion
Returns: [bool] Whether executed successfully

Example

movel_until({0.2, 0.5, 0.4, 0, 0, 1.57}, 1.0, 0.2, 0, function()
  return get_tcp_dio(1) == 0
end)

Hybrid Motion

Linear motion. Unlike movel, when encountering a singular position, it automatically switches to joint motion.

Function: move_hybrid from the lua module
Parameters:
1. p: [Pose] Target position. Can be Cartesian position or joint position (converted via forward kinematics)
2. a: [float] Tool space acceleration (m/s²)
3. v: [float] Tool space velocity (m/s). Note that velocity and acceleration here refer to tool space description
4. t: [float] Motion time (s). Optional, default 0
5. r: [float] Blending radius (m). Optional, default 0
Returns: [int] Motion ID (motion_id), or throws error

Example

move_hybrid({0.2, 0.5, 0.4, 0, 0, 1.57}, 1.0, 0.2, 0, 0)
move_hybrid({j1 = 0, j2 = 1.57, j3 = -1.57, j4 = 0, j5 = 3.14, j6 = 3.14}, 1.0, 0.2, 0, 0)

Circular Motion

Performs circular motion in tool space. The path is the unique circle formed by the current position, via, and p. If the three points are collinear and cannot form a circle, or the distances between points are too small resulting in a circle that is too large or too small, the command will fail. The robot orientation after completing circular motion is consistent with p, independent of rad.

Function: movec from the lua module
Parameters:
1. via: [Pose] Waypoint. Can be Cartesian position or joint position (converted to Cartesian position)
2. p: [Pose] Target position. Can be Cartesian position or joint position (converted to Cartesian position)
3. rad: [float] Path arc radians (rad). Used to specify the arc size of circular motion
  - Specially and by default, when rad = 0, it means moving to p as the endpoint.
  - If rad > 0, it means following a circular motion trajectory passing through via and p, rotating by the corresponding rad.
  - If rad < 0, it means following circular motion trajectory in the opposite direction, via and p may not be passed in this mode.
4. a: [float] Tool space acceleration (m/s²)
5. v: [float] Tool space velocity (m/s)
6. t: [float] Motion time (s). Optional, default 0
7. r: [float] Blending radius (m). Optional, default 0
Returns: [int] Motion ID (motion_id), or throws error

Example

movec({0.2, 0.5, 0.4, 0, 0, 1.57}, {j1 = 0.1, j2 = 0.2, j3 = 0.2, j4 = 0.3, j5 = 0.1, j6 = 0.2}, 0.0, 1.0, 0.2, 0)

Circular Motion Until auto_sync

Performs circular motion in tool space, stops when a specified condition is met.

Refer to Circular Motion and Joint Motion Until descriptions.

Function: movec_until from the lua module
Parameters:
1. via: [Pose] Waypoint, same as Circular Motion
2. p: [Pose] Target position, same as Circular Motion
3. rad: [float] Path arc radians (rad)
4. a: [float] Tool space acceleration (m/s²)
5. v: [float] Tool space velocity (m/s)
6. t: [float] Motion time (s). Optional, default 0
7. fn: [function] Condition callback function, executed once per cycle, returns true to stop current motion
Returns: [bool] Whether executed successfully

Example

movec_until({0.2, 0.5, 0.4, 0, 0, 1.57}, {j1 = 0.1, j2 = 0.2, j3 = 0.2, j4 = 0.3, j5 = 0.1, j6 = 0.2}, 0.0, 1.0, 0.2, 0, function()
  return get_tcp_dio(1) == 0
end)

Servo Motion (PVAT) 2.3.5

Specifies velocity and acceleration for each joint, allowing the robot to perform continuous servo motion.

WARNING

The minimum settable time is 0.01 (10ms). Path points below this value will be skipped.
The sending interval between 2 adjacent points must be less than t. Exceeding t will cause the robot to automatically decelerate and stop.

Function: move_pvat from the lua module
Parameters:
1. p: [JointPose] Joint position
2. v: [JointPose] or [float] Each joint velocity (rad/s), can be array of joint velocities or uniform velocity value
3. a: [JointPose] or [float] Each joint acceleration (rad/s²), can be array of joint accelerations or uniform acceleration value
4. t: [float] Motion time (s)
Returns: [bool] Whether executed successfully

Example

move_pvat({j1=0.279099, j2=0.0499054, j3=0.320451, j4=0.172128, j5=1.67471, j6=0.427222}, {0.00141239, 0.017133, 0.015709, 0.0477418, 0.0037477, 0.0504095}, 0, 0.01)

move_pvat({-0.490491, -0.257047, -0.0192966, -1.60649, -0.311108, 2.14048}, 0.1, 0, 0.01)

Servo Motion (PVT) 2.3.5

Same as Servo Motion (PVAT), with the robot automatically estimating each joint's acceleration.

Function: move_pvt from the lua module
Parameters:
1. p: [JointPose] Joint position
2. v: [JointPose] or [float] Each joint velocity (rad/s)
3. t: [float] Motion time (s)
Returns: [bool] Whether executed successfully

Example

move_pvt({j1=0.279099, j2=0.0499054, j3=0.320451, j4=0.172128, j5=1.67471, j6=0.427222}, {0.00141239, 0.017133, 0.015709, 0.0477418, 0.0037477, 0.0504095}, 0.01)

move_pvt({-0.490491, -0.257047, -0.0192966, -1.60649, -0.311108, 2.14048}, 0.1, 0.01)

Servo Motion (PT) 2.3.5

Same as Servo Motion (PVAT), with the robot automatically estimating each joint's velocity and acceleration.

Function: move_pt from the lua module
Parameters:
1. p: [JointPose] Joint position
2. t: [float] Motion time (s)
Returns: [bool] Whether executed successfully

Example

move_pt({j1=0.279099, j2=0.0499054, j3=0.320451, j4=0.172128, j5=1.67471, j6=0.427222}, 0.01)

Reset Joint Laps

Resets the cumulative lap count for each joint.

Function: reset_joint_laps from the lua module
Parameters: none
Returns: [bool] Whether executed successfully

Example

reset_joint_laps()

Example

local v = 0.06
local a = 0.1

function draw_star(base, r)
  movej(base, 0.4, 1, 0, 1)

  local b = pose_times(base, {-r * math.sin(math.rad(18)), -r * math.cos(math.rad(18)), 0, 0, 0, 0})
  movel(b, v, a, 0, 0)

  local c = pose_times(base, {r / 2, -r / 2 * math.cos(math.rad(36)), 0 , 0, 0, 0})
  movel(c, v, a, 0, 0)

  local d = pose_times(base, {-r / 2, -r / 2 * math.cos(math.rad(36)), 0, 0, 0, 0})
  movel(d, v, a, 0, 0)

  local e = pose_times(base, {r * math.sin(math.rad(18)), -r * math.cos(math.rad(18)), 0, 0, 0, 0})
  movel(e, v, a, 0, 0)

  movel(base, v, a, 0, 0)
  sync()
end

local base = get_actual_tcp_pose()
draw_star(base, 0.1)

# Motion

# Start Recording Trajectory 3.1.11

# End Recording Trajectory 3.1.11

# Replay Trajectory 3.1.11

# Enter Teaching Mode

# Exit Teaching Mode

# Pause Motion 3.1.24

# Resume Motion 3.1.24

# Skip Motion

# Stop Motion

# Wait for Motion Completion 3.1.23

# Joint Motion

# Joint Motion Until auto_sync

# Linear Motion

# Linear Motion Until auto_sync

# Hybrid Motion

# Circular Motion

# Circular Motion Until auto_sync

# Servo Motion (PVAT) 2.3.5

# Servo Motion (PVT) 2.3.5

# Servo Motion (PT) 2.3.5

# Reset Joint Laps

# Example

Motion

Start Recording Trajectory 3.1.11

End Recording Trajectory 3.1.11

Replay Trajectory 3.1.11

Enter Teaching Mode

Exit Teaching Mode

Pause Motion 3.1.24

Resume Motion 3.1.24

Skip Motion

Stop Motion

Wait for Motion Completion 3.1.23

Joint Motion

Joint Motion Until auto_sync

Linear Motion

Linear Motion Until auto_sync

Hybrid Motion

Circular Motion

Circular Motion Until auto_sync

Servo Motion (PVAT) 2.3.5

Servo Motion (PVT) 2.3.5

Servo Motion (PT) 2.3.5

Reset Joint Laps

Example