Robot Arm

Control robot arm operations for your device - motion commands, motor control, and position utilities. All positions are in millimeters (mm).

Syntax

lager arm [OPTIONS] [NETNAME] COMMAND [ARGS]...

Global Options

Option	Description
`--box TEXT`	Lagerbox name or IP
`--help`	Show help message and exit

Arguments

Argument	Description
`NETNAME`	Arm net name (optional if default is set)

Commands

Command	Description
`position`	Get current arm position
`move`	Move to an absolute XYZ position
`move-by`	Move by relative dX dY dZ offsets
`go-home`	Move the arm to its home position (X0 Y300 Z0)
`enable-motor`	Enable arm motors
`disable-motor`	Disable arm motors
`read-and-save-position`	Save current position as calibration reference
`set-acceleration`	Set arm acceleration parameters

Command Reference

`position`

Get the current arm position in millimeters.

lager arm [NETNAME] position [OPTIONS]

Options:

--box TEXT - Lagerbox name or IP

Example:

lager arm ARM1 position --box my-lager-box

`move`

Move the arm to an absolute XYZ position in millimeters.

lager arm [NETNAME] move X Y Z [OPTIONS]

Arguments:

X - Target X position (mm)
Y - Target Y position (mm)
Z - Target Z position (mm)

Options:

--box TEXT - Lagerbox name or IP
--timeout FLOAT - Move timeout in seconds (default: 5.0)
--yes - Confirm the action without prompting

Examples:

# Move to specific coordinates
lager arm ARM1 move 100 200 50 --box my-lager-box --yes

# Move with custom timeout
lager arm ARM1 move 150 250 75 --timeout 10.0 --yes

`move-by`

Move the arm by relative offsets (delta movement) in millimeters.

lager arm [NETNAME] move-by [DX] [DY] [DZ] [OPTIONS]

Arguments:

DX - Delta X offset (default: 0.0)
DY - Delta Y offset (default: 0.0)
DZ - Delta Z offset (default: 0.0)

Options:

--box TEXT - Lagerbox name or IP
--timeout FLOAT - Move timeout in seconds (default: 5.0)
--yes - Confirm the action without prompting

Examples:

# Jog the arm by +5 mm in every axis
lager arm ARM1 move-by 5 5 5 --box my-lager-box --yes

# Move only in Z axis
lager arm ARM1 move-by 0 0 10 --yes

# Move with custom timeout
lager arm ARM1 move-by 10 0 0 --timeout 3.0 --yes

`go-home`

Move the arm to its home position (X0 Y300 Z0).

lager arm [NETNAME] go-home [OPTIONS]

Options:

--box TEXT - Lagerbox name or IP
--yes - Confirm the action without prompting

Example:

lager arm ARM1 go-home --box my-lager-box --yes

`enable-motor`

Enable the arm’s motor drivers.

lager arm [NETNAME] enable-motor [OPTIONS]

Options:

--box TEXT - Lagerbox name or IP

Example:

lager arm ARM1 enable-motor --box my-lager-box

`disable-motor`

Disable the arm’s motor drivers. Use this before manual manipulation of the arm.

lager arm [NETNAME] disable-motor [OPTIONS]

Options:

--box TEXT - Lagerbox name or IP

Example:

lager arm ARM1 disable-motor --box my-lager-box

`read-and-save-position`

Read the current position and save it as a calibration reference.

lager arm [NETNAME] read-and-save-position [OPTIONS]

Options:

--box TEXT - Lagerbox name or IP

Example:

lager arm ARM1 read-and-save-position --box my-lager-box

`set-acceleration`

Set arm acceleration parameters for movement control.

lager arm [NETNAME] set-acceleration ACCELERATION TRAVEL [RETRACT] [OPTIONS]

Arguments:

ACCELERATION - Acceleration value (integer, >= 0)
TRAVEL - Travel acceleration value (integer, >= 0)
RETRACT - Retract acceleration value (integer, >= 0, default: 60)

Options:

--box TEXT - Lagerbox name or IP

Example:

# Set acceleration parameters
lager arm ARM1 set-acceleration 100 80 60 --box my-lager-box

Listing Arm Nets

When invoked with only --box and no subcommand, lists all arm nets on the box:

lager arm --box my-lager-box

Output:

Name    Net Type  Instrument     Channel  Address
ARM1    arm       Rotrics_Dexarm 0        /dev/ttyUSB0

Examples

# List arm nets
lager arm --box my-lager-box

# Get current position
lager arm ARM1 position --box my-lager-box

# Move to home position
lager arm ARM1 go-home --box my-lager-box --yes

# Move to specific coordinates
lager arm ARM1 move 100 250 30 --box my-lager-box --yes

# Jog the arm by +5 mm in X direction
lager arm ARM1 move-by 5 0 0 --box my-lager-box --yes

# Disable motors for manual adjustment
lager arm ARM1 disable-motor --box my-lager-box

# Re-enable motors after adjustment
lager arm ARM1 enable-motor --box my-lager-box

# Save current position as reference
lager arm ARM1 read-and-save-position --box my-lager-box

# Configure acceleration
lager arm ARM1 set-acceleration 100 80 60 --box my-lager-box

Supported Hardware

Manufacturer	Model	Description
Rotrics	Dexarm	Desktop robot arm with 3-axis control

Notes

All positions are in millimeters (mm)
Home position is X0 Y300 Z0
Use --yes flag for non-interactive scripts and CI pipelines
Always re-enable motors after disabling them to resume normal operation
The --timeout option prevents commands from hanging if the arm fails to reach position
Default net can be set with lager defaults add --arm-net

Lager Box Management

Configuration

Power & Simulation

Measurement

I/O & Communication

Development

Utilities

Syntax

Global Options

Arguments

Commands

Command Reference

`position`

`move`

`move-by`

`go-home`

`enable-motor`

`disable-motor`

`read-and-save-position`

`set-acceleration`

Listing Arm Nets

Examples

Supported Hardware

Notes

​Syntax

​Global Options

​Arguments

​Commands

​Command Reference

​position

​move

​move-by

​go-home

​enable-motor

​disable-motor

​read-and-save-position

​set-acceleration

​Listing Arm Nets

​Examples

​Supported Hardware

​Notes

Syntax

Global Options

Arguments

Commands

Command Reference

`position`

`move`

`move-by`

`go-home`

`enable-motor`

`disable-motor`

`read-and-save-position`

`set-acceleration`

Listing Arm Nets

Examples

Supported Hardware

Notes