No movement set_position() does not return immediately

xArm/850 Troubleshooting
1

The code below doesn’t move the arm, as a result set_position() should return almost immediately.

from xarm.wrapper import XArmAPI
import time
arm = XArmAPI(ip, is_radian=False)
arm.set_tcp_jerk(10000)
arm.set_tcp_maxacc(50000)
while True:
    p = arm.get_position()
    p = p[1][0], p[1][1], p[1][2], p[1][5]
    init_time = time.time()
    arm.set_position(
        x=p[0],
        y=p[1],
        z=p[2],
        yaw=p[3],
        wait=True,
        speed=1000,
        mvacc=50000)
    print(time.time() - init_time)

However, running the code prints:

0.5563387870788574
0.5542311668395996
0.5569033622741699
0.5589816570281982
0.5543324947357178
0.5549933910369873
0.5675535202026367
0.5544140338897705
0.5542652606964111
0.5548419952392578
0.5540516376495361
0.5541946887969971
0.5605826377868652

How do we eliminate what appears to be built in lag?

2

Hi,Greg
please take a vedio about the problem to better solve the problem,thanks.

3

Hi,Greg
I’m sorry,I misunderstood what you meant. The explanation of this delay time is this: because the position of the robotic arm needs to be detected, a certain waiting time is required, so even if the robotic arm is not moving, there will be a delay,but if you want reduce the delay, you can set‘wait=False’, but the accuracy of the robotic arm position obtained in this way will be reduced.