.. _auto_movec:
movec (Auto Mode)
------------------------------------------
This is a function for moving the robot **along an arc** to the target position via a waypoint
or to a specified angle from the current position based on the task space in the task space.
This function is available **only when ``DRCF_VERSION == 2``**.
.. figure:: /tutorials/images/mode/movec_overview.png
:alt: movec
:width: 80%
:align: center
.. raw:: html
**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 780)
.. code-block:: cpp
bool movec(float fTargetPos[2][NUM_TASK],
float fTargetVel[2],
float fTargetAcc[2],
float fTargetTime = 0.f,
MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE,
float fTargetAngle1 = 0.f,
float fTargetAngle2 = 0.f,
float fBlendingRadius = 0.f,
BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE,
MOVE_ORIENTATION eOrientation = DR_MV_ORI_TEACH,
DR_MV_APP eAppType = DR_MV_APP_NONE) {
return _movec_ex(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime,
eMoveMode, eMoveReference, fTargetAngle1, fTargetAngle2,
fBlendingRadius, eBlendingType, eOrientation, eAppType);
};
**Parameter**
.. list-table::
:widths: 22 20 18 40
:header-rows: 1
* - **Parameter Name**
- **Data Type**
- **Default Value**
- **Description**
* - fTargetPos[0]
- float[6]
- -
- Waypoint
* - fTargetPos[1]
- float[6]
- -
- Target location
* - fTargetVel
- float[2]
- -
- Linear Velocity, Angular Velocity
* - fTargetAcc
- float[2]
- -
- Linear Acceleration, Angular Acceleration
* - fTargetTime
- float
- 0.0
- Reach Time [sec]
* - eMoveMode
- :ref:`MOVE_MODE `
- ``MOVE_MODE_ABSOLUTE``
- Refer to the Definition of Constant and Enumeration Type
* - eMoveReference
- :ref:`MOVE_REFERENCE `
- ``MOVE_REFERENCE_BASE``
- Refer to the Definition of Constant and Enumeration Type
* - fTargetAngle1
- float
- 0.0
- angle1
* - fTargetAngle2
- float
- 0.0
- angle2
* - fBlendingRadius
- float
- 0.0
- Radius for blending
* - eBlendingType
- :ref:`BLENDING_SPEED_TYPE `
- ``BLENDING_SPEED_TYPE_DUPLICATE``
- Refer to the Definition of Constant and Enumeration Type
* - eOrientation
- :ref:`MOVE_ORIENTATION `
- ``DR_MV_ORI_TEACH``
- Orientation control option of the tool
* - eAppType
- :ref:`DR_MV_APP `
- ``DR_MV_APP_NONE``
- Application hint for motion (if supported by controller)
.. Note::
- If an argument is inputted to ``fTargetVel`` (e.g., ``{30, 0}``), the input 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 ``fTargetAcc`` (e.g., ``{60, 0}``), the input corresponds to the **linear acceleration** of the motion, while the **angular acceleration** is determined proportionally to the linear acceleration.
- If ``fTargetTime`` is specified, values are processed based on ``fTargetTime``, ignoring ``fTargetVel`` and ``fTargetAcc``.
- If the ``eMoveMode`` is ``MOVE_MODE_RELATIVE``, ``fTargetPos[0]`` and ``fTargetPos[1]`` are defined in the **relative coordinate system** of the previous position. (``fTargetPos[0]`` is the relative coordinate from the starting point, while ``fTargetPos[1]`` is the relative coordinate from ``fTargetPos[0]``.)
- If ``fTargetAngle1`` is more than 0 and ``fTargetAngle2`` is equal to 0, the **total rotated angle** on the circular path is applied to ``fTargetAngle1``.
- When ``fTargetAngle1`` and ``fTargetAngle2`` are more than 2, ``fTargetAngle1`` refers to the **total rotating angle moving at a constant velocity** on the circular path, while ``fTargetAngle2`` refers to the **rotating angle in the rotating section for acceleration and deceleration**. In that case, the total moving angle ``fTargetAngle1 + 2 × fTargetAngle2`` moves along the circular path.
.. figure:: /tutorials/images/mode/movec_overview2.png
:alt: movec_overview2
:width: 80%
:align: center
.. raw:: html
.. Caution::
If the following motion is blended with the conditions of ``eBlendingType`` being
``BLENDING_SPEED_TYPE_DUPLICATE`` and ``fBlendingRadius > 0``, the **preceding motion
can be terminated after the following motion** is terminated first when the remaining
motion time (determined by remaining distance, velocity, and
acceleration of the preceding motion) is greater than the motion time of the
following motion. Refer to the following image for more information.
.. figure:: /tutorials/images/mode/movec_caution.png
:alt: movec_caution
:width: 80%
:align: center
.. raw:: html
**Return**
.. list-table::
:widths: 20 80
:header-rows: 1
* - **Value**
- **Description**
* - 0
- Error
* - 1
- Success
**Example**
.. code-block:: cpp
// CASE 1
float x1[2][6] = { {559,434.5,651.5,0,180,0}, {559,434.5,251.5,0,180,0} };
float tvel = {50, 50}; // Set the task velocity to 50 (mm/sec, deg/sec).
float tacc = {100, 100}; // Set the task acceleration to 100 (mm/sec2, deg/sec2).
drfl.movec(x1, tvel, tacc);
// Moves to x1[1] with a velocity of 50 and acceleration of 100 via x1[0] along the arc trajectory.
// CASE 2
float x1r[2][6] = { {559,434.5,651.5,0,180,0}, {559,434.5,251.5,0,180,0} };
float ttime = 5.f;
drfl.movec(x1r, 0, 0, ttime);
// Moves along the arc trajectory to x1r[1] via x1r[0] with a reach time of 5 seconds.
// CASE 3
float x1b[2][6] = { {559,434.5,651.5,0,180,0}, {559,434.5,251.5,0,180,0} };
float x2b[2][6] = { {559,234.5,651.5,0,180,0}, {559,234.5,451.5,0,180,0} };
float tvelb[2] = {50, 50};
float taccb[2] = {100, 100};
float blending_radius = 50;
drfl.movec(x1b, tvelb, taccb, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, 0, 0, blending_radius);
drfl.movec(x2b, tvelb, taccb, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, 0, 0, 0, BLENDING_SPEED_TYPE_DUPLICATE);
// Two consecutive arc segments are executed; the first uses a 50 mm blend radius, the second uses DUPLICATE blending.
These examples show arc motion via a waypoint, time-based arc motion, and consecutive arcs with blending.
Use ``fBlendingRadius`` and ``eBlendingType`` to control how adjacent arc segments are connected smoothly.