Controlling Multi-Joint Motion

Preparation

M5Stack series: Make sure robot is connected with PC (Go to 5.1 myBlockly for more information).

Other series: Make sure the robot is in normal status.

Purpose for this section

This section introduces instructions for controlling multi-joint motion.

Introduction to API

• Set Angle ()

• Applicable to six-axis robots (myCobot 280 series, mechArm series and myCobot 320 series)

• Applicable to four-axis robots (myPalletizer series)

  

• Parameters:

  Joint angle: set angles within its due range according to your needs (refer to 2 Products Profile)

  Speed: set speed within its due range according to your needs (refer to 2 Products Profile)

• Function: multiple joints move to corresponding degree at the preset speed.

Simple Demo

• Program for display:

  

• Motion:

  Arms move to the starting point,

  after 2 seconds, Joint 1, Joint 2, Joint 3 and Joint 4 move to 30 degree, 30 degree, -30 degree and 50 degree respectively at the speed of 50,

  after 2 seconds, arms move to the starting point at the speed of 50,

  after 2 seconds, Joint 1, Joint 2, Joint 3 and Joint 4 move to -30 degree, 0 degree, 30 degree and -50 degree respectively at the speed of 50,

  program is over in 2 seconds.