CDRFLEx.amovej

Features

As an asynchronous movej, it operates the way same as the movej 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 joint location for six axes
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
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.

Return

Value	Description
0	Error
1	Success

Example

CPP

float q0[6] = { 0, 0, 90, 0, 90, 0 };
float q1[6] = { 90, 0, 90, 0, 90, 0 };
float q99[6] = { 0, 0, 0, 0, 0, 0 };
float jvel=10;
float jacc=20;
drfl.amovej(q0, jvel, jacc);
Sleep(3000);

Drfl.amovej(q1, jvel, jacc);
drfl.mwait(); // Temporarily suspends the program execution until the motion is terminated 

Drfl.movej(q99, jvel, jacc);