Skip to main content
Skip table of contents

CDRFLEx.movej

Features

This is a function for moving the robot from the current joint location to target joint location in the robot controller.

Parameter

Parameter Name

Data Type

Default Value

Description

fTargetPos

float[6]

-

Target joint location for six axes

fTargetVel

float

-

Velocity

fTargetAcc

float

-

Acceleration

fTargetTime

float

0.f

Reach Time [sec]

eMoveMode

enum.MOVE_MODE

MOVE_MODE_

ABSOLUTE

Refer to the Definition of Constant and Enumeration Type

fBlendingRadius

float

0.f

Radius for blending

eBlendingType

enum.BLENDING_SPEED_TYPE

BLENDING_SPEED_

TYPE_DUPLICATE

Refer to the Definition of Constant and Enumeration Type

Note

  • When fTargetTime is specified, fTargetVel and fTargetAcc are ignored, and the process is done based on fTargetTime .


Caution

If the following motion is blended with the conditions of eBlendingType being BLENDING_SPEED_TYPE_DUPLICATE and fBlendingRadius>0, the preceding motion can be terminated after the following motion is terminated first when the remaining motion time, which is determined by the remaining distance, velocity, and acceleration of the preceding motion, is greater than the motion time of the following motion. Refer to the following image for more information.


Return

Value

Description

0

Error

1

Success


Example

PY
// CASE 1
float q0[6] = { 0, 0, 90, 0, 90, 0 };
float jvel=10;
float jacc=20;
drfl.movej(q0, jvel, jacc);
# Move to the q0 joint angle with velocity 10(deg/sec) and acceleration 20(deg/sec2)

// CASE 2
float q0[6] = { 0, 0, 90, 0, 90, 0 };
float jTime=5;
drfl.movej(q0, 0, 0, jTime)
# Moves to the q0 joint angle with a reach time of 5 sec.

// CASE 3
float q0[6] = { 0, 0, 90, 0, 90, 0 };
float q1[6] = {90, 0, 90, 0, 90, 0 };
float jvel=10;
float jacc=20;
float blending_radius=50;
drfl.movej(q0, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, blending_radius);
// Moves to the q0 joint angle and is set to execute the next motion
// when the distance from the location that corresponds to the q0 joint angle is 50 mm.
drfl.movej(q1, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, 0, BLENDING_SPEED_TYPE_DUPLICATE));
	// blends with the last motion to move to the q1 joint angle.
JavaScript errors detected

Please note, these errors can depend on your browser setup.

If this problem persists, please contact our support.