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.
lmoveandjmoveare similar commands, except thatlmoveis a Cartesian space line trajectory andjmoveis 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.