1.xarm_move_arc_line

1. Introduction

Linear motion. Button: [Blockly] - [linear motion] - Move.

2. Request & Response

Message

{
    "cmd": "xarm_move_arc_line",
    "data": {
        "X": "200",
        "Y": "0",
        "Z": "240",
        "A": "180",
        "M": "0",
        "B": "0",
        "R": 0,
        "isControl": true,
        "isClickMove": false,
        "wait":false
    },
    "id": "1"
}

Request

Name	Type	Required fields	Description
X	String	Yes	X
Y	String	Yes	Y
Z	String	Yes	Z
A	String	Yes	roll
M	String	Yes	pitch
B	String	Yes	yaw
R	String	No	radius
relative	String	Yes	whether relative motion or not
wait	bool	No	wait or not
isControl	bool	Yes	whether start the program by Blockly or not
isClickMove	bool	Yes	whether click 'Move' in Blockly or not
module	String	No	whether Blockly project is running or not.

Response

code=0->success;
code!=0->Failed, refer to xarm_api_code;

3. Code Example

background

code, limit = 0, False
if code == 0 and limit is False:
    if is_control:
        if is_click_move:
            if GLOBAL.XArm.xarm.warn_code != 0:
                return response(client, id, GLOBAL.XArm.xarm.error_code)
            elif GLOBAL.XArm.xarm.error_code != 0:
                # GLOBAL.XArm.xarm.set_mode(4)
                return response(client, id, GLOBAL.XArm.xarm.error_code)
        yield self.xarm_set_ready(None, id, data)
    if GLOBAL.XArm.xarm.error_code != 0:
        code = -1
    else:
        GLOBAL.XArm.xarm_printed = True
        ret = yield self._wait_until_cmdnum_lt_max()
        if ret is not None:
            return response(client, id, ret)
self.last_move_client = client
code = GLOBAL.XArm.xarm.set_position(*pose, radius=radius, speed=mvvelo, mvacc=mvacc, mvtime=mvtime,is_radian=False, relative=relative)

front_end

self.moveArcLine = (data, isWait, callback, isControl, modName, isClickMove) => {
  if (modName === 'blockly' && isControl === false && !window.Blockly.Running) {
    return;
  }
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    X: Number(data.position.x || 0),
    Y: Number(data.position.y || 0),
    Z: Number(data.position.z || 0),
    // A: self.model.robot.state.info.xarm_axis === 5 ? 180 : Number(data.orientation.roll || 0),
    // B: self.model.robot.state.info.xarm_axis === 5 ? 0 : Number(data.orientation.pitch || 0),
    A: Number(data.orientation.roll || 0),
    B: Number(data.orientation.pitch || 0),
    C: Number(data.orientation.yaw || 0),
    // R: Number(data.radius || 0),
    R: Number(data.orientation.r || 0),
    F: Number(self.model.robot.state.local.speed || 0),
    Q: Number(self.model.robot.state.local.acceleration || 0),
    wait: isWait,
    isControl: isControl === true ? true : false,
    module: modName,
    isClickMove: isClickMove,
    mode: self.model.robot.state.info.xarm_mode,
  });
  self.sendCmd(window.GlobalConstant.MOVE_ARC_LINE, params, (dict) => {
    self.codeHandle(dict, 'move (arc) line', isControl !== true);
    if (callback) {
      callback(dict);
    }
  });
};