Motion parameters¶
Set and read velocity, acceleration, JUMP, and continuous-path parameters.
| Member | Description |
|---|---|
Magician.motion_params |
Point-to-point velocity and acceleration ratios. |
Magician.jump_params |
JUMP Z limit and lift height. |
Magician.set_jog_common_params |
Set jog velocity and acceleration ratios. |
Magician.get_jog_common_params |
Read jog velocity and acceleration ratios. |
Magician.get_arm_speed_ratio |
Read the jog or point-to-point velocity ratio. |
Magician.set_cp_params |
Set continuous-path planning parameters. |
Slideway velocity is set with set_ptpl_params.
Magician.motion_params¶
Velocity and acceleration ratios for point-to-point moves, in percent.
Reading returns (velocity, acceleration). Assigning a pair sets the new values and waits until the arm applies them; inside batch, the values are queued. Assigning raises a DobotAlarmError subclass if the arm reports an alarm.
Example
Magician.jump_params¶
Parameters of JUMP point-to-point moves, as (zlimit, height).
| Element | Description |
|---|---|
zlimit |
Maximum Z of the trajectory, mm. |
height |
Lift height above the higher endpoint, mm. |
Reading returns (zlimit, height). Assigning a pair sets the new values in the same way as motion_params.
Example
Magician.set_jog_common_params¶
Set the velocity and acceleration ratios for jogging.
Parameters
| Name | Type | Description |
|---|---|---|
vel_ratio |
float |
Velocity ratio, percent. |
acc_ratio |
float |
Acceleration ratio, percent. |
Returns int: queue index of the command.
Magician.get_jog_common_params¶
Read the velocity and acceleration ratios for jogging.
Returns tuple[float, float]: (vel_ratio, acc_ratio), in percent.
Magician.get_arm_speed_ratio¶
Read the velocity ratio for jogging or point-to-point moves.
Parameters
| Name | Type | Description |
|---|---|---|
mode |
int |
0 for jogging, 1 for point-to-point moves. |
Returns float: velocity ratio, percent.
Magician.set_cp_params¶
Set continuous-path planning parameters.
Parameters
| Name | Type | Description |
|---|---|---|
plan_acc |
float |
Planning acceleration, mm/s². Higher values give sharper corners. |
junction_vel |
float |
Maximum velocity through a corner, mm/s. |
acc |
float, default 0.0 |
Execution acceleration limit, mm/s². 0.0 uses the firmware default. |
real_time_track |
bool, default False |
Enable real-time tracking mode. |
Returns int: queue index of the command.
See also cp.
Example