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@ -148,11 +148,11 @@ The client must wait for an acknowledgment from the previous command before send
| `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`. |
| `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |
| `G24 X Y Z A B C` | Directly set current pose for servo loops. Optional rotation with `A`, `B`, `C`. |
| `G24 X Y Z A B C` | Directly set current pose for servo loops. Optional rotation with rotation vector `A`, `B`, `C`. |
| `G28 A-F` | Home one or more joints. <br>• Optional joint selection `A`–`F`. |
| `M17` | Enable motors and read current pose as the start pose. |
| `M18` | Disable motors. |
| `M50` | Get current internal position (X, Y, Z). |
| `M50` | Get current internal pose. (Encoders are not read here) |
| `M51` | Get current encoder angles (in degrees) and raw encoder values. |
| `M52` | Get the number of items in the planner queue. |
| `M53` | Check if all planned moves are finished (`1` = finished, `0` = not finished). |
@ -162,6 +162,7 @@ The client must wait for an acknowledgment from the previous command before send
| `M58` | Get firmware version. |
| `M204 L A` | Set linear and angular acceleration. <br>• `L`: linear acceleration <br>• `A`: angular acceleration |
Note: The communication protocol uses 3D vectors for rotations. The direction represents the rotation axis and the length of the vector represents the angle of rotation around the axis.
## Youtube Video
[![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)