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
andjmove
are similar commands, except thatlmove
is a Cartesian space line trajectory andjmove
is joints space line trajectory.
Key, value pairs
Key | Value | Required | Description |
---|---|---|---|
"cmd" | "lmove" | Yes | Moves the robot to a new position on a line in Cartesian space. |
"id" | Int (>0) | No | Similar to jmove command |
"j0", "j1", …, "j7", or "x", "y", "z", "a", "b", "c", "d", "e" | Double | Yes | Similar to jmove command |
"rel" | 0 / 1 | No | Similar to jmove command |
"vel" | Double (>0) | No | The maximum velocity in Cartesian space in mm / second. If this field is not present, the last given value will be used. |
"accel" | Double (>0) | No | The 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) | No | The maximum jerk in Cartesian space in mm / second ^3. If this field is not present, the last given value will be used. |
"cont" | 0 / 1 | No | Similar to jmove command |
"corner" | Double (>0) | No | Similar 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.