Skip to content
Flojoy Docs

MOVE_LIN

Linearly move the robot's tool to an absolute Cartesian position.Params:ip_address : TextBlobThe IP address of the robot arm.x : floatThe x coordinate of the position to move toy : floatThe y coordinate of the position to move toz : floatThe z coordinate of the position to move toalpha : floatThe alpha coordinate (rotation in radians about the x axis) of the position to move to.beta : floatThe beta coordinate (rotation in radians about the y axis) of the position to move to.gamma : floatThe gamma coordinate (rotation in radians about the z axis) of the position to move to.Returns:ip_address : TextBlobThe IP address of the robot arm.
Python Code
from typing import Optional

from flojoy import TextBlob, flojoy
from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle


@flojoy(deps={"mecademicpy": "1.4.0"})
def MOVE_LIN(
    ip_address: TextBlob,
    x: float,
    y: float,
    z: float,
    alpha: Optional[float] = 0,
    beta: Optional[float] = 0,
    gamma: Optional[float] = 0,
) -> TextBlob:
    """
    Linearly move the robot's tool to an absolute Cartesian position.

    Parameters
    ----------
    ip_address : TextBlob
        The IP address of the robot arm.
    x : float
        The x coordinate of the position to move to
    y : float
        The y coordinate of the position to move to
    z : float
        The z coordinate of the position to move to
    alpha : float, optional
        The alpha coordinate (rotation in radians about the x axis) of the position to move to.
    beta : float, optional
        The beta coordinate   (rotation in radians about the y axis) of the position to move to.
    gamma : float, optional
        The gamma coordinate (rotation in radians about the z axis) of the position to move to.

    Returns
    -------
    ip_address : TextBlob
        The IP address of the robot arm.

    """
    robot = query_for_handle(ip_address)
    robot.MoveLin(x=x, y=y, z=z, alpha=alpha, beta=beta, gamma=gamma)
    robot.WaitIdle()
    return ip_address

Find this Flojoy Block on GitHub

Example

Having problems with this example app? Join our Discord community and we will help you out!
React Flow mini map

In this example, the MOVE_LIN node moves the robot arm in a straight line to a specified Cartesian position.

The node takes in the x, y, and z coordinates, along with optional alpha, beta, and gamma rotations in radians.

After initiating the linear movement, the node waits for the robot arm to become idle, indicating that the movement is complete.

The MOVE_LIN node is useful in workflows where linear movements are required, such as drawing a straight line or moving from one point to another in a straight path.