[roboterxj]

Hello Albert, thanks for your continued help. I am going to say YES Euler convention applies, if I understand correctly? Is Euler the same as X, Y, Z, ? If so CRS calls it the " world coordinate system " I have not tried to use this type of move yet.
Also you can move single joint at a time by degrees ( move joint 1, 30 ) moves the waist 30 degrees positive, if you repeat you get another 30 degrees. If you want to go back where you started from there, you can use ( move joint 1, -60 ) and that will get you back where you started from.
Also you can use servo motor encoder counts ( motor 1, +4500 ) moves waist 4500 encoder pulses

我认为你的请求终端命令的可能best be from the application shell user guide starting on page 31

the below sample code is a copy from the RAPL-3 user guide page 25. this guide is linked in Post 4 above . The fonts did not copy over so it is easier to read in the actual user guide

a list of system shell commands are on the CROS user guide page 19
a list of some other command language is on page 139 of the RAPL-3 user guide
a list of application shell commands ( I think these are what you want ) starts on page 31 of " application shell user guide " the 90 page version

I hope this is helpful. I am going to look into a world coordinate move later this evening
thanks again for your help


Example 2: Basic Program in Preferred RAPL-3 Style
A basic program can contain
• a main function
• a subroutine
and follow the preferred style of RAPL-3
• explicit declarations of variables, including teachables
subroutine
main function
sub io(int out_channel, int out_state, int in_channel)
int in_state
output(out_channel, out_state)
do
delay(250)
input(in_channel, in_state)
until (in_state) == 1
end sub
main
int i ;; explicitly declare variables
teachable int fast, slow, cycles ;; explicitly declare teachable variables
teachable cloc safe, a, b ;; explicitly declare teachable locations
move(safe)
speed(fast)
for i = 1 to cycles ;; use a for loop
;; cycles is teachable, set outside
appro(a,5)
grip_open(100)
io(1,1,2)
speed(slow)
move(a)
grip_close(100)
depart(5)
speed(fast)
move(safe)
appro(b,5)
io(3,1,4)
speed(slow)
move(b)
grip_open(100)
depart(5)
speed(fast)
move(safe)
end for
end main