movejx()
Features
The robot moves to the target position (pos) within the joint space.
Since the target position is inputted as a posx form in the task space, it moves in the same way as movel. However, since this robot motion is performed in the joint space, it does not guarantee a linear path to the target position. In addition, one of 8 types of joint combination (robot configurations) corresponding to the task space coordinate system (posx) must be specified in sol (solution space). When DR_SOL_AUTO(255) is entered into sol, it moves to robot configuration that is the closest to the current configuration, (the smallest L2 norm in the joint space of axes 2-5) among the eight joint combination types.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
pos | posx | - | posx or position list |
list (float[6]) | |||
vel (v) | float | None None | velocity (same to all axes) or velocity (to an axis) |
list (float[6]) | |||
acc (a) | float | None None | acceleration (same to all axes) or acceleration (acceleration to an axis) |
list (float[6]) | |||
time (t) | float | None | Reach time [sec] |
radius (r) | float | None | Radius for blending |
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, r:radius)
- _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 radius is None, it is set to the blending radius in the blending section and 0 otherwise.
- _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.)
- Using the blending in the preceding motion generates an error in the case of input with relative motion (mod=DR_MV_MOD_REL), and it is recommended to blend using movej() or movel().
- Refer to the description of movej() and movel() for blending according to option ra and vel/acc.
Caution
- In versions below SW V2.8, if the blending radius exceeds 1/2 of the total moving distance, the motion is not operated because it affects the motion after blending, and the running task program is terminated when a blending error occurs
- In SW V2.8 or later, if the blending radius exceeds 1/2 of the total moving distance, the blending radius size is automatically changed to 1/2 of the total moving distance, and the change history can be checked in the information log message.
Robot configuration (shape vs. solution space)
Solution space | Binary | Shoulder | Elbow | Wrist |
|---|---|---|---|---|
0 | 000 | Lefty | Below | No Flip |
1 | 001 | Lefty | Below | Flip |
2 | 010 | Lefty | Above | No Flip |
3 | 011 | Lefty | Above | Flip |
4 | 100 | Righty | Below | No Flip |
5 | 101 | Righty | Below | Flip |
6 | 110 | Righty | Above | No Flip |
7 | 111 | Righty | Above | Flip |
| 255 | Auto Calculation (the smallest L2 norm in the joint space of axes 2-5) | |||
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
P0 = posj(0,0,90,0,90,0)
movej(P0, v=30, a=30)
P1 = posx(400,500,800,0,180,0)
P2 = posx(400,500,500,0,180,0)
movel(P2, vel=100, acc=200) # Linear movement to P2
X_tmp, sol_init = get_current_posx() # Obtains the current solution space from the P2 position
movejx(P1, vel=30, acc=60, sol=sol_init)
# Moves to the joint angle with a velocity and acceleration of 30(deg/sec) and 60(deg/sec2), respectively,
# when the TCP edge is the P1 position (maintaining the solution space in the last P2 position)
movejx(P2, time=5, sol=2)
# Moves to the joint angle with a reach time of 5 sec when the TCP edge is at the P2 position
# (forcefully sets a solution space to 2)
movejx(P1, vel=[10, 20, 30, 40, 50, 60], acc=[20, 20, 30, 30, 40, 40], radius=100, sol=2)
# Moves the robot to the joint angle when the TCP edge is at the P1 position,
# and the next motion is executed when the distance from the P2 position is 100mm.
movejx(P2, v=30, a=60, ra= DR_MV_RA_OVERRIDE, sol=2)
# Immediately terminates the last motion and blends it to move to the joint angle
# when the TCP edge is at the P2 position.