CDRFLEx.movejx

Features

This is a function for moving the robot to the target position (pos) within the joint space in the robot controller. Since the target position is inputted as a posx form in the task space, it moves in the same way as Movel. However, since this robot motion is performed in the joint space, it does not guarantee a linear path to the target position. In addition, one of eight types of joint combinations (robot configurations) corresponding to the task space coordinate system (posx) must be specified in iSolutionSpace (solution space). When 255 is entered into iSolutionSpace, it moves to robot configuration that is the closest to the current configuration, (the smallest L2 norm in the joint space of axes 2-5) among the eight joint combination types.

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 below description)
fTargetVel	float/float[6]	-	Velocity
fTargetAcc	float/float[6]	-	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
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, values are processed based on fTargetTime, ignoring fTargetVel and fTargetAcc.
Using blending in the preceding motion generates an error in the case of input with relative motion (eMoveMode = MOVE_MODE_ABSOLUTE), and it is recommended to blend using movej() or movel().
Refer to the description of movej() and movel() for blending according to option eBlendingType and fTargetVel / fTargetAcc.

Robot configuration (Shape vs. solution space)

Solution space	Binary	Shoulder	Elbow	Wrist
0	000	Lefty	Below	No Flip
1	001	Lefty	Below	Flip
2	010	Lefty	Above	No Flip
3	011	Lefty	Above	Flip
4	100	Righty	Below	No Flip
5	101	Righty	Below	Flip
6	110	Righty	Above	No Flip
7	111	Righty	Above	Flip
255	Auto Calculation (the smallest L2 norm in the joint space of axes 2-5)

Return

Value	Description
0	Error
1	Success

Example

CPP

// CASE 1
float x1[6] = { 559, 34.5, 651.5, 0, 180, 0 };
float sol=2;
float jvel=10;
float jacc=20;
drfl.movejx(x1, sol, jvel, jacc);
		// Move to the joint angle that corresponds to x1 and configuration with velocity 10(deg/sec)
		//and acceleration 20(deg/sec2).
// CASE 2
float x1[6] = { 559, 34.5, 651.5, 0, 180, 0 };
float sol=2;
float jTime=5;
drfl.movejx(x1, sol, 0, 0, jTime);
		// Moves to the joint angle that corresponds to x1 and configuration with a reach time of 5 sec.

// CASE 3
float x1[6] = { 559, 34.5, 651.5, 0, 180, 0 };
float x2[6] = { 559, 434.5, 651.5, 0, 180, 0 };
float sol=2;
float jvel=10;
float jacc=20;
float blending_radius=50;
drfl.movejx(x1, sol, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, blending_radius);
		// Moves to the joint angle that corresponds to x1 and configuration and is set to execute the next motion
		// when the distance from x1 location is 50 mm.
drfl.movejx(x2, sol, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, 0,
BLENDING_SPEED_TYPE_DUPLICATE);
		// blends with the last motion to move to the joint angle that corresponds to x2 and configuration.