CDRFLEx.move_spiral

Features

This is a function for the radius increasing in a radial direction and the robot's moving in parallel with the rotating spiral motion in an axial direction. It moves the robot along the spiral trajectory on the surface that is perpendicular to the axis on the coordinate specified as eMoveReferenceand the linear trajectory in the axis direction.

Parameter

Parameter Name	Data Type	Default Value	Range	Description
eTaskAxis	enum.TASK_AXIS	-	-	Refer to the Definition of Constant and Enumeration Type
fRevolution	float	-	rev > 0	Total number of revolutions [revolution]
fMaximuRadius	float	-	rmax > 0	Final spiral radius [mm]
fMaximumLength	float	-		Distance moved in the axis direction [mm]
fTargetVel	float[2]	-		Linear Velocity, Angular Velocity
fTargetAcc	float[2]	-		Linear Acceleration, Angular Acceleration
fTargetTime	float	0.0	time ≥ 0	Total execution time <sec>
eMoveReference	enum.MOVE_REFERENCE	MOVE_REFERENCE_TOOL		Refer to the Definition of Constant and Enumeration Type

Note

fRevolution refers to the total number of revolutions of the spiral motion.
fMaximuRadius refers to the maximum radius of the spiral motion.
fMaximumLength refers to the parallel distance in the axis direction during the motion. A negative value means the parallel distance in the axis direction.
fTargetVel refers to the moving velocity of the spiral motion.
fTargetAcc refers to the moving acceleration of the spiral motion.
When fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and fTargetAcc.
eTaskAxis defines the axis that is perpendicular to the surface defined by the spiral motion.
eMoveReference refers to the reference coordinate system defined by the spiral motion.
This function does not support online blending of previous and subsequent motions.

Caution

If the rotating acceleration calculated by the spiral path is too great. an error can be generated to ensure safe motion. In this case, reduce fTargetVel, fTargetAcc or fTargetTime value.

Return

Value	Description
0	Error
1	Success

Example

PY

float rev = 3;
float rmax = 50;
float lmax = 50;
float tvel = { 50, 50 };
float tacc = { 100, 100 };
Drfl.move_spiral(TASK_AXIS_Z, rev, rmax, lmax, tvel, tacc);
// Moves the robot from the current position maintaining
// velocity 50, 50(mm/sec, deg/sec) and acceleration 100, 100(mm/sec2, deg/sec2) for spiral trajectory to the maximum radius, 50 mm and
// moves in the direction of Tool z by 50 mm at the same time.