CDRFLEx.amovel

Features

As an asynchronous movel, it operates the same as the movel 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
fTargetVel	float[2]	-	Linear Velocity, Angular Velocity
fTargetAcc	float[2]	-	Linear Acceleration, Angular Acceleration
fTargetTime	float	-	Reach Time [sec] * If the time is specified, values are processed based on time, ignoring vel and acc.
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

If an argument is inputted to fTargetVel (e.g., fTargetVel = {30, 0}), the input argument corresponds to the linear velocity of the motion, while the angular velocity is determined proportionally to the linear velocity.
If an argument is inputted to fTargetAcc (e.g., fTargetAcc = {60, 0}), the input argument corresponds to the linear acceleration of the motion, while the angular acceleration is determined proportionally to the linear acceleration.
If fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and fTargetAcc.
Refer to the motion description of movel() for blending according to option eBlendingType and fTargetVel / fTargetAcc.

Return

Value	Description
0	Error
1	Success

Example

CPP

// D-Out 2 seconds after the motion starts with x1
float x1[6] = { 559, 434.5, 651.5, 0, 180, 0 };
float tvel = { 50, 50 };
float tacc = { 100, 100 };
drfl.amovel(x1, tvel, tacc);
Sleep(2000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);