amovel()
Features
The asynchronous movel motion operates in the same way as movel 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
- movel(pos): The next command is executed after the robot starts from the current position and reaches (stops at) pos.
- amovel(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 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
|
ra | int | DR_MV_RA_DUPLICATE | Reactive motion mode
|
app_type | int | DR_MV_APP_NONE | Reactive motion mode
|
Note
- Abbreviated parameter names supported (v:vel, a:acc, t:time).
- _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_accx 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.)
- Refer to the description of the movej() motion for the path of the blending according to option ra and vel/acc.
- 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’.
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 motion starts with x1
j0 = posj(-148,-33,-54,180,92,32)
movej(j0, v=30, a=30)
x1 = posx(784, 543, 570, 0, 180, 0)
amovel (x1, vel=100, acc=200) # Performs the next motion immediately after beginning a 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.