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movejx(pos, vel, acc, time, radius, ref, mod, ra, sol)

Features

The robot moves to the target position (pos) within the joint space.

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 8 types of joint combination (robot configurations) corresponding to the task space coordinate system (posx) must be specified in sol (solution space).


  • From SW version V3.2, movejx is only supported as 2.x compatible form, and the functionality for the new posx type is supported in movej.


Parameters

Parameter Name

Data Type

Default Value

Description

pos

posx

-

posx  or

position list

list (float[6])

vel (v)

float

None

None

velocity (same to all axes) or

velocity (to an axis)

list (float[6])

acc (a)

float

None

None

acceleration (same to all axes) or

acceleration (acceleration to an axis)

list (float[6])

time (t)

float

None

Reach time [sec]

radius (r)

float

None

Radius for blending

ref

int

None

reference coordinate

ž  DR_BASE: base coordinate

ž  DR_WORLD: world coordinate

ž  DR_TOOL: tool coordinate

ž  user coordinate: User defined

mod

int

DR_MV_MOD_ABS

Movement basis

ž  DR_MV_MOD_ABS: Absolute

ž  DR_MV_MOD_REL: Relative

ra

int

DR_MV_RA_DUPLICATE

Reactive motion mode

ž  DR_MV_RA_DUPLICATE: duplicate

ž  DR_MV_RA_OVERRIDE: override

sol

int

0

Solution space


  • Abbreviated parameter names are supported. (v:vel, a:acc, t:time, r:radius)

  • _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by set_velj.)

  • _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by set_accj.)

  • If the time is specified, values are processed based on time, ignoring vel and acc.

  • If the time is None, it is set to 0.

  • If the radius is None, it is set to the blending radius in the blending section and 0 otherwise.

  • _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be set by the set_ref_coord command.)

  • Using the blending in the preceding motion generates an error in the case of input with relative motion (mod=DR_MV_MOD_REL), and it is recommended to blend using movej() or movel().

  • Refer to the description of movej() and movel() for blending according to option ra and vel/acc.


  • In versions below SW V2.8, if the blending radius exceeds 1/2 of the total moving distance, the motion is not operated because it affects the motion after blending, and the running task program is terminated when a blending error occurs

  • In SW V2.8 or later, if the blending radius exceeds 1/2 of the total moving distance, the blending radius size is automatically changed to 1/2 of the total moving distance, and the change history can be checked in the information log message.

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

Return

Value

Description

0

Success

Negative value

Error

 Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data type error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
P0 = posj(0,0,90,0,90,0)

movej(P0, v=30, a=30)

P1 = posx(400,500,800,0,180,0)

P2 = posx(400,500,500,0,180,0)

movel(P2, vel=100, acc=200)       # Linear movement to P2

X_tmp, sol_init = get_current_posx()   # Obtains the current solution space from the P2 position

movejx(P1, vel=30, acc=60, sol=sol_init)  

# Moves to the joint angle with a velocity and acceleration of 30(deg/sec) and 60(deg/sec2), respectively,

# when the TCP edge is the P1 position (maintaining the solution space in the last P2 position)

movejx(P2, time=5, sol=2)          

# Moves to the joint angle with a reach time of 5 sec when the TCP edge is at the P2 position

# (forcefully sets a solution space to 2)

movejx(P1, vel=[10, 20, 30, 40, 50, 60], acc=[20, 20, 30, 30, 40, 40], radius=100, sol=2)

# Moves the robot to the joint angle when the TCP edge is at the P1 position,

# and the next motion is executed when the distance from the P2 position is 100mm.

movejx(P2, v=30, a=60, ra= DR_MV_RA_OVERRIDE, sol=2)

# Immediately terminates the last motion and blends it to move to the joint angle

# when the TCP edge is at the P2 position.

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