9.xarm_move_tool_line

1. Introduction

End linear motion interface: The robot arm running tool coordinate motion interface, which can realize the motion of the tool motion module in Blockly by clicking the 'Move' button, and the motion of the motion module in the specified direction by clicking the 'Move' button.

Request & Response

Message

{
    "cmd": "xarm_move_tool_line",
    "data": {
        "X": "1",
        "Y": "0",
        "Z": "0",
        "A": "0",
        "B": "0",
        "C": "0",
        "wait":false,
        "radius":0
    },
    "id": "1"
}

Request：

data	type	Required filed	Description	example value
X	string	no	x-direction travel distance	"1"
Y	string	no	y-direction travel distance	"0"
Z	string	no	Z-direction travel distance	"0"
A	string	no	Roll direction travel distance	"0"
B	string	no	Pitch direction travel distance	"0"
C	string	no	Yaw direction travel distance	"0"
wait	string	no	Whether or not to wait for the end of the campaign during the campaign	false
radius	Int	no	Move radius, if radius is “none” or less than 0, then move ToolLine, otherwise move ToolArcLine.	0

Response:

code=0 -> Success
code=-1 -> Error
code!=0 -> Failed
(Refer to the api_code.md documentation for details)