.. _auto_movejx:

movejx (Auto Mode)
------------------------------------------

This function moves the robot to a **target TCP position (posx)** defined in the **task space**  
while performing the motion in **joint space**.  
Although it accepts a Cartesian target like :ref:`movel <auto_movel>`, the internal trajectory is executed  
through joint interpolation rather than linear path planning.

The target pose can be reached via one of **eight robot configurations** (solution spaces),  
and the user must specify the desired configuration index (0–7).  
If ``255`` is entered, the robot automatically selects the configuration closest  
to the current joint posture (based on the smallest L2 norm of joint axes 2–5).

.. figure:: /tutorials/images/mode/movejx_overview.png
   :alt: movejx
   :width: 80%
   :align: center

.. raw:: html
      
   <br>

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 790)

.. code-block:: cpp

   bool movejx(float fTargetPos[NUM_JOINT],
               unsigned char iSolutionSpace,
               float fTargetVel,
               float fTargetAcc,
               float fTargetTime = 0.f,
               MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
               MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE,
               float fBlendingRadius = 0.f,
               BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE) {
       return _movejx(_rbtCtrl, fTargetPos, iSolutionSpace, fTargetVel, fTargetAcc,
                      fTargetTime, eMoveMode, eMoveReference, fBlendingRadius, eBlendingType);
   };

**Parameter**

.. list-table::
   :widths: 22 20 18 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTargetPos
     - float[6]
     - -
     - Target TCP position (X, Y, Z, Rx, Ry, Rz)
   * - iSolutionSpace
     - unsigned char
     - -
     - Joint configuration index (0–7 or 255 for auto selection)
   * - fTargetVel
     - float
     - -
     - Velocity [mm/s or deg/s]
   * - fTargetAcc
     - float
     - -
     - Acceleration [mm/s² or deg/s²]
   * - fTargetTime
     - float
     - 0.f
     - Reach time [sec] (overrides velocity and acceleration)
   * - eMoveMode
     - :ref:`MOVE_MODE <enum_move_mode>` 
     - ``MOVE_MODE_ABSOLUTE``
     - Defines absolute or relative motion mode
   * - eMoveReference
     - :ref:`MOVE_REFERENCE <enum_move_reference>` 
     - ``MOVE_REFERENCE_BASE``
     - Coordinate reference system (BASE or TOOL)
   * - fBlendingRadius
     - float
     - 0.f
     - Radius for blending consecutive motions [mm]
   * - eBlendingType
     - :ref:`BLENDING_SPEED_TYPE <enum_blending_speed_type>` 
     - ``BLENDING_SPEED_TYPE_DUPLICATE``
     - Blending type option for transition smoothing

.. Note::

  - When ``fTargetTime`` is specified, the system ignores ``fTargetVel`` and ``fTargetAcc``  
    and moves according to the specified duration.
  - Using blending after **relative motion** (``MOVE_MODE_RELATIVE``) can cause errors.  
    Blending should be used only with absolute mode.
  - Refer to :ref:`movej <auto_movej>` and :ref:`movel <auto_movel>` for more details on blending methods  
    according to ``fBlendingRadius`` and ``fBlendingType``.

**Robot configuration (solution space)**

.. list-table::
   :widths: 15 15 20 20 30
   :header-rows: 1

   * - **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
     - \-
     - \-
     - Automatically selects configuration closest to current posture  
       (minimizes L2 norm of joint axes 2–5)

**Return**

.. list-table::
   :widths: 20 80
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 0
     - Error
   * - 1
     - Success

**Example**

.. code-block:: cpp

   // CASE 1 — Velocity/acceleration-based joint-space move
   float x1[6] = {559, 34.5, 651.5, 0, 180, 0};
   unsigned char sol = 2;
   float jvel = 10;
   float jacc = 20;

   drfl.movejx(x1, sol, jvel, jacc);
   // Moves to the target pose corresponding to x1
   // using velocity 10 deg/s and acceleration 20 deg/s².

   // CASE 2 — Time-based motion
   float x2[6] = {559, 34.5, 651.5, 0, 180, 0};
   drfl.movejx(x2, sol, 0, 0, 5);
   // Moves to the target joint configuration in 5 seconds.

   // CASE 3 — Motion blending with previous move
   float x3[6] = {559, 34.5, 651.5, 0, 180, 0};
   float x4[6] = {559, 434.5, 651.5, 0, 180, 0};
   float blend_radius = 50;

   drfl.movejx(x3, sol, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, blend_radius);
   drfl.movejx(x4, sol, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, 0, BLENDING_SPEED_TYPE_DUPLICATE);
   // Executes blended joint-space motion between x3 and x4
   // maintaining smooth transition within 50 mm radius.

This function is mainly used for **high-speed, smooth joint-space transitions**  
that maintain stable configuration tracking while ensuring flexible blending control.