amoveb()
Features
The asynchronous moveb motion operates in the same way as moveb() except for the asynchronous processing and executes the next line after the command is executed.
Generating a new command for the motion before the amoveb() motion results in an error for safety reasons. Therefore, the termination of the amoveb() motion must be confirmed using mwait() or check_motion() between amoveb() and the following motion command.
Note
- moveb(seg_list): The next command is executed after the robot starts from the current position and reaches (stops at) the end point of seg_list.
- amoveb(seg_list): The next command is executed regardless of whether the robot starts from the current position and reaches (stops at) the end point of seg_list.
Parameters
Parameter Name | Data Type | Default Value | Description |
pos_list | list (posb) | - | posb list |
vel (v) | float | None | velocity or velocity1, velocity2 |
list (float[2]) | |||
acc (a) | float | None | acceleration or acceleration1, acceleration2 |
list (float[2]) | |||
time (t) | float | None | Reach time [sec]
|
ref | int | None | reference coordinate
|
mod | int | DR_MV_MOD_ABS | Movement basis
|
app_type | int | DR_MV_APP_NONE | Application mode
|
Note
- Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
- Up to 50 arguments can be entered in posb_list.
- _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by set_velx.)
- _global_accj is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by set_accx.)
- If an argument is inputted to vel (e.g., vel=30), 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 acc (e.g., acc=60), the input argument corresponds to the linear acceleration of the motion while the angular acceleration is determined proportionally to the linear acceleration.
- 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.
- _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.)
- If the mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of the previous pos.
- This function does not support online blending of previous and subsequent motions.
- If ‘app_type’ is ‘DR_MV_APP_WELD’, parameter ‘vel’ is internally replaced by the speed setting entered in app_weld_set_weld_cond(), not the input value of ‘vel’.
Caution
- A user input error is generated if the blending radius in posb is 0.
- A user input error is generated due to the duplicated input of Line if contiguous Line-Line segments have the same direction.
- A user input error is generated to prevent a sudden acceleration if the blending condition causes a rapid change in direction.
- This function does not support online blending of previous and subsequent motions.
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
PY
#Example 1. D-Out 3 seconds after the motion through the path of seg11 - seg16 begins
# Init Pose @ Jx1
Jx1 = posj(45,0,90,0,90,45) # initial joint position
X0 = posx(370, 420, 650, 0, 180, 0) # initial task position
# CASE#1) ABSOLUTE
# Absolute Goal Poses
X1 = posx(370, 670, 650, 0, 180, 0)
X1a = posx(370, 670, 400, 0, 180, 0)
X1a2= posx(370, 545, 400, 0, 180, 0)
X1b = posx(370, 595, 400, 0, 180, 0)
X1b2= posx(370, 670, 400, 0, 180, 0)
X1c = posx(370, 420, 150, 0, 180, 0)
X1c2= posx(370, 545, 150, 0, 180, 0)
X1d = posx(370, 670, 275, 0, 180, 0)
X1d2= posx(370, 795, 150, 0, 180, 0)
seg11 = posb(DR_LINE, X1, radius=20)
seg12 = posb(DR_CIRCLE, X1a, X1a2, radius=20)
seg14 = posb(DR_LINE, X1b2, radius=20)
seg15 = posb(DR_CIRCLE, X1c, X1c2, radius=20)
seg16 = posb(DR_CIRCLE, X1d, X1d2, radius=20)
b_list1 = [seg11, seg12, seg14, seg15, seg16]
# The blending radius of the last waypoint (seg16) is ignored.
movej(Jx1, vel=30, acc=60, mod=DR_MV_MOD_ABS)
# Joint motion to the initial angle (Jx1)
movel(X0, vel=150, acc=250, ref=DR_BASE, mod=DR_MV_MOD_ABS)
# Line motion to the initial position (X0)
amoveb(b_list1, vel=150, acc=250, ref=DR_BASE, mod=DR_MV_MOD_ABS)
# Moves the robot from the current position through a trajectory consisting of seg11(LINE), seg12(CIRCLE), seg14(LINE),
# seg15(CIRCLE), and seg16(CIRCLE) with a constant velocity of 150(mm/sec) with the exception of accelerating and decelerating sections.
# (The final point is X1d2.)
# Blending to the next segment begins when the distance of 20mm from the end point (X1, X1a2, X1b2, X1c2, and X1d2)
# of each segment is reached.
wait(3) # Temporarily suspends the program execution for 3 seconds (while the motion continues).
set_digital_output(1, 1) # D-Out (no. 1 channel) ON
mwait(0) # Temporarily suspends the program execution until the motion is terminated.