The imperative (الأمر) requests performance of an action. The imperative verb is its familiar form, while the jussive present verb with the lām of command (لام الأمر) also conveys it. A request for action is not limited to one grammatical surface pattern.
«لِيَحْضُرْ زَيْدٌ»
Let Zayd attend.
«أَكْرِمْ عَمْرًا»
Honour ʿAmr.
«رُوَيْدَ بَكْرًا»
Deal gently with Bakr; take it slowly.
The imperative's grammatical form is distinct from its contextual force as obligation, guidance, permission, supplication or another purpose. Not every imperative is automatically a binding legal command.