Data Sheet

ArmTrajectory.Set_P2P(P2, P1, 10.0, 0.5);

sets P1, P2(Start, EndPose). In this case P1 is 0.0 rad and P2 is 0.5 rad.

Trajectory is from P2 to P1

MotionPlayer.All_Info_Reload();

MotionProfile calls Info(Robot, Kinematics, Trajectory).

MoionPlayer.Initialize();

MotionProfile, Step, are initialized.

MotionPlayer.Set_Time_Period(DEFAULT_Ctrl_TIME_PERIOD);

sets time period. For value lesser than 0 then a default value (=8) gets inputted.