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Motion

Read the arm pose and run point-to-point, continuous-path, and homing moves.

Member Description
Magician.get_pose Read the current pose.
Magician.ptp Move to a target and wait until the move ends.
Magician.move_to Move to a Cartesian target and wait for completion.
Magician.set_r Rotate the end effector without moving X, Y, or Z.
Magician.set_home Move the arm to its home position.
Magician.cp Queue a continuous-path segment.
Pose Arm pose returned by get_pose.
PTPMode Point-to-point trajectory modes.

Slideway moves are on the Accessories page.

Magician.get_pose

Magician.get_pose() -> Pose

Read the current Cartesian position and joint angles.

Returns Pose.

Example

x, y, z, r, joints = bot.get_pose()

Magician.ptp

Magician.ptp(mode, x, y, z, r) -> bool

Move to a target in point-to-point mode and wait until the move ends.

Inside batch, the move is queued and the method returns at once.

Parameters

Name Type Description
mode PTPMode or int Trajectory mode, 0 to 9.
x, y, z, r float Target. Cartesian position (mm) and rotation (degrees), joint angles (degrees), or increments, depending on mode.

Returns bool: True.

Raises

See also move_to, batch.

Example

bot.ptp(mode=1, x=200, y=0, z=50, r=0)  # MOVJ_XYZ
bot.ptp(mode=2, x=200, y=50, z=50, r=0)  # MOVL_XYZ

Magician.move_to

Magician.move_to(x, y, z, r=0.0, *, mode=PTPMode.MOVJ_XYZ, wait=True, timeout=30.0, raise_on_alarm=True) -> int

Move to a Cartesian target in point-to-point mode.

Unlike ptp, it has a timeout, and with wait=False it returns the queue index at once for wait_for.

Parameters

Name Type Description
x, y, z float Target position, mm.
r float, default 0.0 End-effector rotation, degrees.
mode PTPMode or int, default PTPMode.MOVJ_XYZ Trajectory mode.
wait bool, default True Block until the move executes. False returns after queuing.
timeout float or None, default 30.0 Maximum wait, seconds. None waits indefinitely. Applies when wait=True.
raise_on_alarm bool, default True Raise as soon as an alarm is active while waiting.

Returns int: queue index of the move.

Raises

See also ptp, wait_for, clear_alarm.

Example

bot.move_to(200, 0, 50, mode=1)  # MOVJ_XYZ
bot.move_to(200, 50, 50, mode=2)  # MOVL_XYZ

Magician.set_r

Magician.set_r(r) -> bool

Rotate the end effector without moving X, Y, or Z, and wait until the rotation ends.

Reads the current pose, then moves to the same position with rotation r in MOVJ_XYZ mode.

Parameters

Name Type Description
r float Target rotation, degrees.

Returns bool: True.

Raises DobotAlarmError subclass: the arm reported an alarm.

Magician.set_home

Magician.set_home() -> bool

Move the arm to its home position and wait until it arrives.

Works also during an alarm, as in DobotLab: the arm homes, and the alarms are cleared when homing ends.

Returns bool: True.

Raises DobotAlarmError subclass: an alarm comes back after clearing, as with clear_alarm.

Magician.cp

Magician.cp(x, y, z, *, velocity=100.0, mode=1) -> int

Queue a continuous-path segment.

Consecutive segments are blended into one trajectory without stopping between them.

Parameters

Name Type Description
x, y, z float Target position, mm.
velocity float, default 100.0 Path velocity, mm/s.
mode int, default 1 1 for an absolute target, 0 for a target relative to the current position.

Returns int: queue index of the segment.

See also set_cp_params, batch, Motion patterns.

Example

for x, y in [(200, 0), (220, 20), (240, 0)]:
    bot.cp(x, y, -40, velocity=80)
bot.wait_idle()

Pose

class pydobotlab.Pose(x, y, z, r, j1, j2, j3, j4)

Arm pose returned by get_pose. Immutable.

Attribute Type Description
x, y, z float Cartesian position, mm.
r float End-effector rotation, degrees.
j1, j2, j3, j4 float Joint angles, degrees.
joints list[float] [j1, j2, j3, j4].
Method Description
as_xyzr() Return (x, y, z, r).
as_joints() Return (j1, j2, j3, j4).

Iterating a Pose yields x, y, z, r, and joints. str(pose) shows each value rounded to two decimals.

Example

pose = bot.get_pose()
x, y, z, r = pose.as_xyzr()

PTPMode

class pydobotlab.PTPMode(IntEnum)

Point-to-point trajectory modes for ptp, move_to, and set_ptpwithl_cmd. Each method accepts a member or its value: mode=PTPMode.MOVL_XYZ and mode=2 are equivalent.

Member Value Target Trajectory
JUMP_XYZ 0 Cartesian Lift, travel, descend.
MOVJ_XYZ 1 Cartesian Joint-interpolated.
MOVL_XYZ 2 Cartesian Straight line.
JUMP_ANGLE 3 Joint angles Lift, travel, descend.
MOVJ_ANGLE 4 Joint angles Joint-interpolated.
MOVL_ANGLE 5 Joint angles Linear in joint space.
MOVJ_INC 6 Joint increments Joint-interpolated.
MOVL_INC 7 Cartesian increments Straight line.
MOVJ_XYZ_INC 8 Cartesian increments Joint-interpolated.
JUMP_MOVL_XYZ 9 Cartesian Lift, straight-line travel, descend.

JUMP lift height and Z limit are set with jump_params.