[Albert]

Hi Andrew,
Looking at the uArm uFactory docs I see that this robot is programmed using Gcode (Starter Guide and Pro Developer guide availablehere). We have different post processors that can generate Gcode.

However, small modifications are required to have an optimal integration. These are some hints:

• The linear movement should be the G0 command and not G1 (which is used for most machines). I guess that since it is a 4 axis robot it won't make a difference as there are no singularities. I attached a screenshot of the accepted G-code commands.
  
• You can use G2202 to specify a joint movement (provided joint axes)
  
• 显然,G1是打开激光当哟u have it active.
  
• I see that the program needs to be sent through a serial connection. This needs to be implemented in the post processor (unless you can load a Gcode program directly on the robot on through some interface).