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@ -143,8 +143,8 @@ Each command is acknowledged with either an **`ok`** or **`error`** response.
If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message. If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message.
The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined. The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined.
| Command | Description | | Command | Description |
|----------------|-----------------------------------------------------------------------------| |-------------------|-----------------------------------------------------------------------------|
| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br>• `X`, `Y`, `Z`: target positions <br>• `F`: feed rate | | `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br>• `X`, `Y`, `Z`: target positions <br>• `F`: feed rate |
| `G1 X Y Z F` | Same as `G0`. | | `G1 X Y Z F` | Same as `G0`. |
| `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds | | `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |