Jogging

Move continuously along one Cartesian axis or one joint until stopped.

Member	Description
Magician.jog	Start or stop jog motion.
Magician.jog_stop	Stop jog motion.
JOGCmd	Jog directions.
JogMode	Cartesian or joint jogging.

Jog velocity and acceleration are set with set_jog_common_params.

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Magician.jog

Magician.jog(cmd, mode=JogMode.COORDINATE) -> Frame

Start or stop jog motion.

Motion continues until the next jog call or jog_stop. Jog commands execute immediately and bypass the command queue.

Parameters

Name	Type	Description
cmd	JOGCmd or int	Direction. JOGCmd.IDLE stops.
mode	JogMode, default JogMode.COORDINATE	Interpret cmd as a Cartesian axis or a joint.

Returns Frame: acknowledgement from the arm.

Example

bot.jog(JOGCmd.AP_DOWN)  # start moving in +X
time.sleep(0.5)
bot.jog_stop()

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Magician.jog_stop

Magician.jog_stop() -> None

Stop jog motion.

Retries once if sending the stop command fails.

Raises

• DobotConnectionError or DobotTimeoutError: the retry also failed. The arm may still be moving.

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JOGCmd

class pydobotlab.JOGCmd(IntEnum)

Jog directions for jog.

Member	Value	COORDINATE mode	JOINT mode
IDLE	0	Stop	Stop
AP_DOWN	1	X+	J1+
AN_DOWN	2	X-	J1-
BP_DOWN	3	Y+	J2+
BN_DOWN	4	Y-	J2-
CP_DOWN	5	Z+	J3+
CN_DOWN	6	Z-	J3-
DP_DOWN	7	R+	J4+
DN_DOWN	8	R-	J4-

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JogMode

class pydobotlab.JogMode(IntEnum)

Frame in which jog interprets its direction.

Member	Value	Description
COORDINATE	0	Cartesian axes X, Y, Z, and R.
JOINT	1	Joints J1 to J4.