4. Motion Parameters

API List

API Function	Description	Save Required?
set_tcp_jerk()	Set the jerk for linear motion	Yes
set_joint_jerk()	Set the jerk for joint motion	Yes
set_collision_sensitivity()	Set the sensitivity for collision detection	Yes
set_tcp_load()	Set the TCP load (weight and center of gravity)	Yes
set_tcp_offset()	Set the TCP offset	Yes
set_world_offset()	Set a user-defined world coordinate system	Yes
save_config()	Save the above configurations to make them permanent	-

Speed and Acceleration

Speed and acceleration are primarily set as parameters within motion commands.

Parameter	Parameter Name in Motion Command	Unit (Linear/Joint)
Speed	speed	mm/s or rad/s
Acceleration	mvacc	mm/s² or rad/s²

Example:

# Specify speed as 100 mm/s and acceleration as 2000 mm/s² in linear motion
arm.set_position(x=300, y=0, z=200, speed=100, mvacc=2000, wait=True)

# Specify joint speed as 50 °/s and joint acceleration as 500 °/s² in joint motion
arm.set_servo_angle(angle=[10, 0, 0, 0, 0, 0], speed=50, mvacc=500, wait=True, is_radian=False)

Jerk

Jerk affects the rate of acceleration and the smoothness of the motion. It is generally not recommended to modify it.

Motion Type	Interface	Unit
Linear Motion	set_tcp_jerk(jerk)	mm/s³
Joint Motion	set_joint_jerk(jerk, is_radian)	°/s³ or rad/s³

Note: After setting the jerk using the interface, you need to call arm.save_config() to save the configuration if you want it to remain effective after a reboot.

Example:

# Set TCP jerk to 10000 mm/s³
arm.set_tcp_jerk(10000)

# Set joint jerk to 7000 °/s³
arm.set_joint_jerk(7000, is_radian=False)

# Save the configuration to make it permanent
arm.save_config()

Collision Sensitivity

The robot arm has a built-in collision detection function based on current, and its sensitivity can be set.

Use set_collision_sensitivity(sensitivity) to set it.

• sensitivity: The sensitivity value, range 0-5. The higher the value, the more easily the collision protection is triggered. 0 means it is turned off. The factory default is 3.

Note: After setting the collision sensitivity, you need to call arm.save_config() to save the configuration if you want it to remain effective after a reboot.

Example: Set the collision detection sensitivity to 3.

arm.set_collision_sensitivity(3)

TCP Load and Offset

When a tool (like a gripper or a welding gun) is mounted on the end of the robot arm, you need to set the tool's TCP load (weight and center of gravity) and TCP offset (the offset of the tool coordinate system relative to the end flange center) to ensure motion accuracy and stability.

Set TCP Load

Use set_tcp_load(weight, center_of_gravity) to set it.

• weight: The load weight in kg.
• center_of_gravity: The coordinates of the load's center of gravity relative to the Tool Center Point (TCP), a list of [x, y, z] in mm.

Example: Set the load to 0.8kg, with the center of gravity at [0, 0, 50].

arm.set_tcp_load(0.8, [0, 0, 50])

Note: After setting the TCP load, you need to call arm.save_config() to save the configuration if you want it to remain effective after a reboot.

Set TCP Offset

Use set_tcp_offset(offset) to set it.

• offset: A list containing [x, y, z, roll, pitch, yaw].

Example: Set a TCP located 100mm along the Z-axis from the end flange center.

arm.set_tcp_offset([0, 0, 100, 0, 0, 0])

Note:

• After setting the TCP offset, the robot arm will enter the state 5(state=5) and can not accept and execute new commands. You need to call set_state(0) to resume.
• If you want the setting to remain effective after a reboot, you need to call arm.save_config().

Coordinate System

You can set a user-defined coordinate system (world coordinate system) using set_world_offset(offset, is_radian=None). After setting it, motion will be based on this new world coordinate system.

• offset: A list [x, y, z, roll, pitch, yaw] that defines the offset of the base coordinate system within the world coordinate system.
• is_radian: Specifies whether roll, pitch, yaw are in degrees or radians.

Example:

# Set a new world coordinate system, placing the robot's base coordinate system at [200, 0, 0, 0, 0, 0] in the world coordinate system
arm.set_world_offset([200, 0, 0, 0, 0, 0])

Note:

• After setting the coordinate system, the robot arm will enter the state 5(state=5) and can not accept and execute new commands. You need to call set_state(0) to resume.
• If you want the setting to remain effective after a reboot, you need to call arm.save_config().