amovesj()
Features
The asynchronous movesj motion operates in the same way as movesj() except for the asynchronous processing.
Generating a new command for the motion before the amovesj() motion results in an error for safety reasons. Therefore, the termination of the amovesj() motion must be confirmed using mwait() or check_motion() between amovesj() and the following motion command.
Note
- movesj(pos_list): The next command is executed after the robot starts from the current position and reaches (stops at) the end point of pos_list.
- amovesj(pos_list): The next command is executed regardless of whether the robot starts from the current position and reaches (stops at) the end point of pos_list.
Parameters
Parameter Name | Data Type | Default Value | Description |
pos_list | list (posj) | - | posj list |
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
|
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 mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of the previous pos. (If pos_list=[q1, q2, ...,q(n-1), q(n)], q1 is the relative angle of the starting point while q(n) is the relative coordinate of q(n-1).)
- 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
#Example 1. D-Out 3 seconds after the spline motion through q1 - q5 begins
q0 = posj(0,0,0,0,0,0)
movej(q0, vel=30, acc=60) # Moves in joint motion to the initial position (q0).
q1 = posj(10, -10, 20, -30, 10, 20) # Defines the posj variable (joint angle) q1.
q2 = posj(25, 0, 10, -50, 20, 40)
q3 = posj(50, 50, 50, 50, 50, 50)
q4 = posj(30, 10, 30, -20, 10, 60)
q5 = posj(20, 20, 40, 20, 0, 90)
qlist = [q1, q2, q3, q4, q5]
# Defines the list (qlist) which is a set of waypoints q1-q5.
amovesj(qlist, vel=30, acc=100)
# Moves the spline curve that connects the waypoints defined in the qlist.
# with a maximum velocity of 30(mm/sec) and maximum acceleration of 100(mm/sec2).
# Executes the next command.
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.