UFactory XARM User Manual page 159

【Set TCP acceleration（）mm/s²】
Set the acceleration of the linear motion in mm/s
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【Set joint speed（）°/s】
Set the speed of joint movement in °/s.
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【Set joint acceleration（）°/s²】
Set the acceleration of joint motion in °/s
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acceleration values in the code block are the speed and acceleration
values set currently, which can be modified manually.
【Set tcp load（）weight（）XYZ】
Set the load of the current project, refer Settings-TCP Payload from the
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drop-down list.
【Set tcp offset（）X Y Z R P Y】
Set the end offset of the current project, reference Settings-TCP Offset
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from the drop-down list.
【Set world offset（）X Y Z Roll Pitch Yaw】
Set the base coordinate offset of the current project. The drop-down
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list refers to the data of the Setting-Base Coordinate Offset.
【Counter reset】
This command resets the counter in the control box to 0
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【Counter plus】
Each time the command is run, the counter of the control box will be
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2
. The default speed and
2
159
.