Dorna Document

Dorna Document

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›Commands

Commands

  • Introduction
  • JSON format
  • Messages
  • Order of commands
  • Joint move
  • Rapid move
  • Line move
  • Circle move
  • Halt
  • Alarm
  • Sleep
  • Input
  • Probe
  • Output
  • PWM
  • ADC
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  • Tool length
  • Version

Line move

{"cmd":"lmove", ...}

This command moves the robot from the current position to a new position with certain velocity, acceleration, and jerk on a line in Cartesian space.

lmove and jmove are similar commands, except that lmove is a Cartesian space line trajectory and jmove is joints space line trajectory.

Key, value pairs

KeyValueRequiredDescription
"cmd""lmove"YesMoves the robot to a new position on a line in Cartesian space.
"id"Int (>0)NoSimilar to jmove command
"j0", "j1", …, "j7", or "x", "y", "z", "a", "b", "c", "d", "e"DoubleYesSimilar to jmove command
"rel"0 / 1NoSimilar to jmove command
"vel"Double (>0)NoThe maximum velocity in Cartesian space in mm / second. If this field is not present, the last given value will be used.
"accel"Double (>0)NoThe maximum acceleration in Cartesian space in mm / second ^2. If this field is not present, the last given value will be used.
"jerk"Double (>0)NoThe maximum jerk in Cartesian space in mm / second ^3. If this field is not present, the last given value will be used.
"cont"0 / 1NoSimilar to jmove command
"corner"Double (>0)NoSimilar to jmove command

Example

{"cmd":"lmove", "id":12, "x":5, "y":12, "rel":1, "vel":100}

This command will move the toolhead, x coordinate 5mm and y coordinate 12mm at velocity 100mm/s. Notice that the target point can be given either in joints or Cartesian coordinates.

Error codes

Same as jmove command.

Last updated on 2020-12-23
← Rapid moveCircle move →
  • Key, value pairs
  • Example
  • Error codes
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