amovej()
Features
The asynchronous movej motion operates in the same way as movej except that it does not have the radius parameter for blending. The command is the asynchronous motion command, and the next command is executed at the same time the motion begins.
Note
- movej(pos): The next command is executed after the robot starts from the current position and reaches (stops at) pos.
- amovej(pos): The next command is executed regardless of whether the robot starts from the current position and reaches (stops at) pos.
Parameters
Parameter Name | Data Type | Default Value | Description |
pos | posj | - | posj or joint angle list |
list (float[6]) | |||
vel (v) | float | None | velocity (same to all axes) or velocity (to an axis) |
list (float[6]) | |||
acc (a) | float | None | acceleration (same to all axes) or acceleration (acceleration to an axis) |
list (float[6]) | |||
time (t) | float | None | Reach time [sec] |
mod | int | DR_MV_MOD_ABS | Movement basis
|
ra | int | DR_MV_RA_DUPLICATE | Reactive motion mode
|
Note
- Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
- _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.
- Refer to the description of the movej() motion for the path of blending according to option ra and vel/acc.
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
#Example 1. The robot moves to q1 and stops the motion 3 seconds after it begins the motion at q0 and then moves to q99
q0 = posj(0, 0, 90, 0, 90, 0)
amovej (q0, vel=10, acc=20) # Moves to q0 and performs the next command immediately after
wait(3) # Temporarily suspends the program execution for 3 seconds (while the motion continues).
q1 = posj(0, 0, 0, 0, 90, 0)
amovej (q1, vel=10, acc=20)
# Maintains the q0 motion (DUPLICATE blending if the ra argument is omitted) and iterates to q1.
# Performs the next command immediately after the blending motion.
mwait(0) # Temporarily suspends the program execution until the motion is terminated.
q99 = posj(0, 0, 0, 0, 0, 0)
movej (q99, vel=10, acc=20) # Joint motion to q99