CDRFLEx.amove_spiral(Extension)

Features

As an asynchronous move_spiral, it operates the same as the move_spiral() function except for the asynchronous process, and executes the next line by returning as soon as motion starts without waiting for the termination of motion.

A new motion command generated before the motion is terminated by amove_spiral() function causes errors for security reasons. Therefore, the termination of the amove_spiral() motion must be confirmed using the mwait() function between amove_spiral() and the following motion command before the new motion command is executed.

The radius increases in a radial direction and the robot moves 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 eMoveReference and 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]
fTargetPos	float[3]	-	-	Target location
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
eMoveMode	enum.MOVE_MODE	MOVE_MODE_ABSOLUTE		Refer to the Definition of Constant and Enumeration Type
eSpiralDir	enum.SPIRAL_DIR	DR_SPIRAL_OUTWARD		Refer to the Definition of Constant and Enumeration Type
eRotDir	enum.ROT_DIR	DR_ROT_FORWARD		Refer to the Definition of Constant and Enumeration Type

Note

fRevolution refers to the total number of revolutions of the spiral motion.
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 angular acceleration calculated by the spiral path is too great, an error can be generated to ensure safe motion.
In this case, reduce the fTargetVel, fTargetAcc or fTargetTime value.

Return

Value	Description
0	Error
1	Success

Example

CPP

// D-Out 3 seconds after the spiral motion begins
float rev = 3;
float rmax = 50;
float lmax = 50;
float tvel = { 50, 50 };
float tacc = { 100, 100 };
Drfl.amove_spiral(TASK_AXIS_Z, rev, rmax, lmax, tvel, tacc);
Sleep(3000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);