Rapid move
{"cmd":"rmove", ...}
This command is the same as jmove
, except the values of velocity, acceleration, and jerk are presented as numbers between 0 to 1 which are the fraction of their maximum value on the current line. Depending on where the initial point and final point of a move command are, the maximum velocity, acceleration and jerk values will vary. rmove
command makes the calculations easy for the user, so the user can only pick at what fraction of those maximum values the move should be executed.
rmove
commands are designed for fast transfer to a point where the actual operation of the robot begins. InGcode
terminology,rmove
is similar toG0
command which is designed for free move to a starting point of a job, andjmove
is similar toG1
command which is designed for actual feeding operation.
Key, value pairs
Key | Value | Required | Description |
---|---|---|---|
"cmd" | "rmove" | Yes | Similar to jmove command |
"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 and <=1) | No | The maximum velocity of the motion as fraction of the maximum possible velocity for this motion. If this field is not present, the last given value will be used. |
"accel" | Double (>0 and <=1) | No | The maximum acceleration of the motion as fraction of the maximum possible acceleration for this motion. If this field is not present, the last given value will be used. |
"jerk" | Double (>0 and <=1) | No | The maximum jerk of the motion as fraction of the maximum possible jerk for this motion. If this field is not present, the last given value will be used. |
Example
{"cmd":"rmove", "id":5, "j1":35, "j3":45, "rel":0, "vel":0.3}
This command will move j1 to 35 and j3 to 45. The controller will calculate maximum possible velocity of the motion, which is a function of the maximum speed of motors for joints 1 and 3 and the shape of the trajectory. Then the maximum velocity is set as 0.3 of the maximum possible velocity.
Error codes
Same as jmove
command.