Motion patterns¶

Common combinations of the motion, queue, and end-effector methods. Examples assume a connected Magician named bot.

Moves¶

ptp returns when the move has ended, so the next line runs with the arm at the target. The other DobotLab functions, such as the end-effector and I/O commands, also wait until the arm has executed them.

bot.ptp(mode=1, x=200, y=0, z=50, r=0)
bot.ptp(mode=2, x=200, y=50, z=50, r=0)
print(bot.get_pose())

mode=1 is MOVJ_XYZ, a joint-interpolated move to a Cartesian target. mode=2 is MOVL_XYZ, a straight-line move. See PTPMode for all modes.

Queuing a sequence¶

Inside batch, commands are only queued. When the block exits, the arm runs the whole sequence without waiting for Python between moves, and the block waits until it ends.

with bot.batch():
    for x, y in points:
        bot.ptp(mode=2, x=x, y=y, z=0, r=0)

Continuous path¶

Consecutive MOVL_XYZ moves decelerate to a stop at each waypoint. cp segments are blended into one trajectory, which suits drawing and engraving. Set the corner behavior once with set_cp_params.

import math

bot.set_cp_params(plan_acc=200, junction_vel=200, acc=200)
with bot.batch():
    bot.ptp(mode=2, x=230, y=0, z=-45, r=0)  # move to the start point
    for i in range(65):
        angle = 2 * math.pi * i / 64
        bot.cp(200 + 30 * math.cos(angle), 30 * math.sin(angle), -45, velocity=80)

examples/draw_smiley.py compares point-to-point, batched, and continuous-path drawing.

Pick and place¶

bot.set_home()
bot.ptp(mode=1, x=200, y=80, z=60, r=0)  # above the pick point
bot.ptp(mode=1, x=200, y=80, z=-30, r=0)
bot.set_endeffector_suctioncup(enable=True, on=True)  # pick
bot.ptp(mode=1, x=200, y=80, z=60, r=0)
bot.ptp(mode=1, x=200, y=-80, z=60, r=0)  # above the place point
bot.ptp(mode=1, x=200, y=-80, z=-30, r=0)
bot.set_endeffector_suctioncup(enable=True, on=False)  # release
bot.ptp(mode=1, x=200, y=-80, z=60, r=0)

All moves use mode=1 (MOVJ_XYZ). Each command starts after the previous one has ended.

A JUMP_XYZ move (mode=0) lifts, travels, and descends in one command. The lift height and Z limit come from jump_params.

bot.jump_params = 150, 30  # zlimit 150 mm, lift 30 mm
bot.ptp(mode=0, x=200, y=80, z=-30, r=0)

Speed¶

Velocity ratios scale the full-speed values of the firmware:

Motion	100 % velocity
Point-to-point (`motion_params`)	200 mm/s
Jogging X, Y, Z (`set_jog_common_params`)	200 mm/s
Jogging R and joints	90 °/s

For example, bot.motion_params = 50, 50 moves at about 100 mm/s.