CDRFLEx.amovejx

Features

As an asynchronous movejx, it operates the same as the movejx function except for not having the fBlendingRadius argument for blending. However, the command returns with motion start at the same time and executes the next line without waiting for the termination of motion due to the characteristic of the asynchronous type.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]	-	Target TCP Position for six axes
iSolutionSpace	unsigned char	-	joint combination shape (Refer to the description below)
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
eMoveReference	enum.MOVE_REFERENCE	MOVE_REFERENCE_BASE	Refer to the Definition of Constant and Enumeration Type
eBlendingType	enum.BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	Refer to the Definition of Constant and Enumeration Type

Note

When fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and
Refer to the motion description of movej() for blending according to option eBlendingType and fTargetVel / fTargetAcc.

Caution

Blending into the current active motion is disabled in the case of input with relative motion (eMoveMode = MOVE_MODE_RELATIVE), and it is recommended to blend using amovej() or moveLAsync().

Return

Value	Description
0	Error
1	Success

Example

CPP

// D-Out 2 seconds after the joint motion starts with x1
float x1[6] = { 559, 34.5, 651.5, 0, 180, 0 };
float sol=2;
float jvel=10;
float jacc=20;
drfl.amovejx(x1, sol, jvel, jacc);
Sleep(2000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);