CDRFLEx.amovesj

Features

As an asynchronous movesj, it operates the same as movesj() 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 amovesj() causes errors for security reasons. Therefore, the termination of the amovesj() motion must be confirmed using mwait() between amovesj() and the following motion command before the new motion command is executed.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	Float[MAX_SPLINE_POINT] [6]	-	Maximum 100 waypoint list
nPosCount	unsigned char	-	Number of valid waypoints
fTargetVel	float/float[6]	-	Velocity
fTargetAcc	float/float[6]	-	Acceleration
fTargetTime	float	0.0	Reach Time [sec]
eMoveMode	enum.MOVE_MODE	MOVE_MODE_ ABSOLUTE	Refer to the Definition of Constant and Enumeration Type

Note

When fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and
When eMoveMode is MOVE_MODE_RELATIVE, each pos on the position list is defined as a relative coordinate for the preceding pos. (If position list=[q1, q2, ...,q(n-1), q(n)], q1 is the relative angle of the starting point, while q(n) is the relative coordinate of q(n-1))
This function does not support online blending of previous and subsequent motions.

Return

Value	Description
0	Error
1	Success

Example

CPP

// D-Out 3 seconds after the spline motion through all points of jpos begins
float jpos[4][6];
float jvel=10;
float jacc=10;
int jposNum = 4;
jpos[0][0]=0; jpos[0][1]=0; jpos[0][2]=-30; jpos[0][3]=0; jpos[0][4]=-30; jpos[0][5]=0;
jpos[1][0]=90; jpos[1][1]=0; jpos[1][2]=0; jpos[1][3]=0; jpos[1][4]=0; jpos[1][5]=0;
jpos[2][0]=0; jpos[2][1]=0; jpos[2][2]=-30; jpos[2][3]=0; jpos[2][4]=-30; jpos[2][5]=0;
jpos[3][0]=-90; jpos[3][1]=0; jpos[3][2]=0; jpos[3][3]=0; jpos[3][4]=0; jpos[3][5] = 0;

drfl.movesj(jpos, jposNum, jvel, jacc);
Sleep(3000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);