amove_spiral()

Features

The asynchronous move_spiral motion operates in the same way as move_spiral 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

move_spiral: The next command is executed after the robot starts from the current position and reaches (stops at) the end point of the spiral trajectory.
amove_spiral: The next command is executed after the robot starts from the current position and regardless of whether it reaches (stops at) the end point of the spiral trajectory.

Parameters

Parameter Name	Data Type	Default Value	Range	Description
rev	float	10	rev > 0	Total number of revolutions
rmax	float	None	rmax > 0	Final spiral radius [mm]
lmax	float	0		Distance moved in the axis direction [mm]
vel (v)	float	None		velocity
acc (a)	float	None		acceleration
time (t)	float	None	time ≥ 0	Total execution time <sec>
axis	int	DR_AXIS_Z	-	axis DR_AXIS_X: x-axis DR_AXIS_Y: y-axis DR_AXIS_Z: z-axis
ref	Int	DR_TOOL	-	reference coordinate DR_BASE : base coordinate DR_WORLD : world coordinate DR_TOOL : tool coordinate user coordinate : user defined
pos	posx	None		posx or position list (X,Y,Z)
	list(float[3])
	list(float[6])
mod	int	DR_MV_MOD_ABS		Movement basis DR_MV_MOD_ABS : Absolute DR_MV_MOD_REL : Relative
rad_dir	int	DR_SPIRAL_OUTWARD		Radial direction DR_SPIRAL_OUTWARD: toward outward DR_SPIRAL_INWARD: toward inward
rot_dir	int	DR_ROT_FORWARD		Rotation direction DR_ROT_FORWARD : Forward rotation (+) DR_ROT_REVERSE : Reverse rotation (-)
ra	int	DR_MV_RA_DUPLICATE		Reactive motion mode DR_MV_RA_DUPLICATE: duplicate DR_MV_RA_OVERRIDE: override

Note

Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
rev refers to the total number of revolutions of the spiral motion.
Rmax refers to the maximum radius of the spiral motion.
Lmax refers to the parallel distance in the axis direction during the motion. A negative value means the parallel distance in the –axis direction.
Vel refers to the moving velocity of the spiral motion.
The first value of _global_velx (parallel velocity) is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by set_velx.)
Acc refers to the moving acceleration of the spiral motion.
The first value of _global_accx (parallel acceleration) is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by set_accx.)
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.
The axis defines the axis that is perpendicular to the surface defined by the spiral motion.
Ref refers to the reference coordinate system defined by the spiral motion.
rad_dir refers to the radial direction of spiral

rot_dir refers to the rotation direction of spiral along axis.

Refer to the description of the move_spiral() motion for the path of the blending according to option ra and vel/acc.

Caution

An error can be generated to ensure safe motion if the rotating acceleration calculated by the spiral path is too great.
In this case, reduce the vel, acc, or increase time value.

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

# Model: M1013

J00 = posj(0,0,90,0,90,0)
P1 = [559,34.5,651.5]
P2 = [579, 65, 641.5]

D1 = [20,0,10]
D2 = [-20,0,-10]

movej(J00,vel=100,acc=100) # Move to Initial Poisition

# Max Radius with Blending
amove_spiral(rev=5,rmax=20.0,lmax=-10,v=40,a=40,axis=DR_AXIS_Z,ref=DR_TOOL,rad_dir=DR_SPIRAL_OUTWARD, rot_dir=DR_ROT_FORWARD)
wait(5.5)
amove_spiral(rev=5,rmax=20.0,lmax=-10,v=40,a=40,axis=DR_AXIS_Z,ref=DR_TOOL,rad_dir=DR_SPIRAL_INWARD, rot_dir=DR_ROT_FORWARD)
mwait(0)

# Coordinate values with Blending
amove_spiral(rev=5,pos=P2,v=40,a=40,axis=DR_AXIS_Z,ref=DR_BASE,rad_dir=DR_SPIRAL_OUTWARD, rot_dir=DR_ROT_FORWARD)
wait(10.2)
amove_spiral(rev=5,pos=P1,v=40,a=40,axis=DR_AXIS_Z,ref=DR_BASE,rad_dir=DR_SPIRAL_INWARD, rot_dir=DR_ROT_FORWARD)
mwait(0)

# Relative motion with Blending
amove_spiral(rev=5,pos=D1,mod=DR_MV_MOD_REL,v=40,a=40,axis=DR_AXIS_Z,ref=DR_BASE,rad_dir=DR_SPIRAL_OUTWARD, rot_dir=DR_ROT_FORWARD)
wait(5.5)
amove_spiral(rev=5,pos=D2,mod=DR_MV_MOD_REL,v=40,a=40,axis=DR_AXIS_Z,ref=DR_BASE,rad_dir=DR_SPIRAL_INWARD, rot_dir=DR_ROT_FORWARD)
mwait(0)

Features

Parameters

Return

Exception

Example

Related commands