moveb()
Features
This function takes a list that has one or more path segments (line or circle) as arguments and moves at a constant velocity by blending each segment into the specified radius. Here, the radius can be set through posb.
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] * If the time is specified, values are processed based on time, ignoring vel and acc. |
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_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.)
- If the mod is DR_MV_MOD_REL, each pos in the posb_list is defined in the relative coordinate of the previous pos.
- 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
# 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
PY
# 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)
moveb(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.
PY
# CASE 2) RELATIVE
# Relative Goal Poses
dX1 = posx(0, 250, 0, 0, 0, 0)
dX1a = posx(0, 0, -150, 0, 0, 0)
dX1a2= posx(0, -125, 0, 0, 0, 0)
dX1b = posx(0, 50, 0, 0, 0, 0)
dX1b2= posx(0, 75, 0, 0, 0, 0)
dX1c = posx(0, -250, -250, 0, 0, 0)
dX1c2= posx(0, 125, 0, 0, 0, 0)
dX1d = posx(0, 125, 125, 0, 0, 0)
dX1d2= posx(0, 125, -125, 0, 0, 0)
dseg11 = posb(DR_LINE, dX1, radius=20)
dseg12 = posb(DR_CIRCLE, dX1a, dX1a2, radius=20)
dseg14 = posb(DR_LINE, dX1b2, radius=20)
dseg15 = posb(DR_CIRCLE, dX1c, dX1c2, radius=20)
dseg16 = posb(DR_CIRCLE, dX1d, dX1d2, radius=20)
db_list1 = [dseg11, dseg12, dseg14, dseg15, dseg16]
# The blending radius of the last waypoint (dseg16) 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)
moveb(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 dseg11(LINE), dseg12(CIRCLE), dseg14(LINE),
# dseg15(CIRCLE), and dseg16(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. (The path is the same as CASE#1.)