amovejx()
Features
The asynchronous movejx motion operates in the same way as movejx except that it does not have the radius parameter for blending. The command is the asynchronous motion command, and the next command is executed without waiting for the motion to terminate.
Note
- movejx(pos): The next command is executed after the robot starts from the current position and reaches (stops at) pos.
- amovejx(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 | posx | - | posx or position list |
list (float[6]) | |||
vel (v) | float | None | velocity (same to all axes) or velocity (to an axis) |
list (float[6]) | None | ||
acc (a) | float | None | acceleration (same to all axes) or acceleration (acceleration to an axis) |
list (float[6]) | None | ||
time (t) | float | None | Reach time [sec] |
ref | int | None | reference coordinate
|
mod | int | DR_MV_MOD_ABS | Movement basis
|
ra | int | DR_MV_RA_DUPLICATE | Reactive motion mode
|
sol | int | 0 | Solution space
|
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.
- 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.
- Refer to the description of the movej() motion for the path of the blending according to option ra and vel/acc.
Caution
If relative motion is entered (mod=DR_MV_MOD_REL), the motion in progress cannot execute blending. Therefore it is recommended to execute blending with movej() or movel().
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. D-Out 2 seconds after the joint motion starts with x1
p0 = posj(-148,-33,-54,180,92,32)
movej(p0, v=30, a=30)
x1 = posx(784, 443, 770, 0, 180, 0)
amovejx (x1, vel=100, acc=200, sol=1) # Performs the next motion immediately after beginning a joint motion with x1.
wait(2) # Temporarily suspends the program execution for 2 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.