.. _auto_movel:

movel (Auto Mode)
------------------------------------------

This is a function for moving the robot **along a straight line** to the target position (pos) within
the task space in the robot controller.

.. figure:: /tutorials/images/mode/movel_overview.png
   :alt: movel
   :width: 80%
   :align: center

.. raw:: html
      
   <br>

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 776)

.. code-block:: cpp

   // motion control: linear move
   bool movel(float fTargetPos[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 fBlendingRadius = 0.f,
              BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE,
              DR_MV_APP eAppType = DR_MV_APP_NONE) {
       return _movel(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime,
                     eMoveMode, eMoveReference, fBlendingRadius, eBlendingType, eAppType);
   };

**Parameter**

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

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTargetPos
     - float[6]
     - -
     - Target TCP Position for six axes
   * - fTargetVel
     - float[2]
     - -
     - Linear Velocity, Angular Velocity
   * - fTargetAcc
     - float[2]
     - -
     - Linear Acceleration, Angular Acceleration
   * - fTargetTime
     - float
     - 0.f
     - Reach Time [sec] |br|
       * If the time is specified, values are processed based on time, ignoring vel and acc.
   * - eMoveMode
     - :ref:`MOVE_MODE <enum_move_mode>` 
     - ``MOVE_MODE_ABSOLUTE``
     - Refer to the Definition of Enumeration Type
   * - eMoveReference
     - :ref:`MOVE_REFERENCE <enum_move_reference>` 
     - ``MOVE_REFERENCE_BASE``
     - Refer to the Definition of Enumeration Type
   * - fBlendingRadius
     - float
     - 0.f
     - Radius for blending
   * - eBlendingType
     - :ref:`BLENDING_SPEED_TYPE <enum_blending_speed_type>` 
     - ``BLENDING_SPEED_TYPE_DUPLICATE``
     - Refer to the Definition of Enumeration Type

.. 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``.

    .. figure:: /tutorials/images/mode/movel_overview2.png
      :alt: movel_overview2
      :width: 80%
      :align: center

    .. raw:: html
          
      <br>
.. 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, which is determined by the 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/movel_caution.png
      :alt: movel_caution
      :width: 80%
      :align: center

    .. raw:: html
          
      <br>

**Return**

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

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

**Example**

.. code-block:: cpp

   // CASE 1
   float x1[6]  = { 559, 434.5, 651.5, 0, 180, 0 };
   float tvel[2] = { 50, 50 };
   float tacc[2] = { 100, 100 };
   drfl.movel(x1, tvel, tacc);
   // Moves to the x1 position with velocity 50(mm/sec) and acceleration 100(mm/sec2)

   // CASE 2
   float x1r[6] = { 559, 434.5, 651.5, 0, 180, 0 };
   float tTime  = 5;
   drfl.movel(x1r, 0, 0, tTime);
   // Moves to the x1 position with a reach time of 5 sec.

   // CASE 3
   float x1t[6] = { 559, 434.5, 651.5, 0, 180, 0 };
   float tvel2   = 50;
   float tacc2   = 100;
   drfl.movel(x1t, tvel2, tacc2, 0, MOVE_MODE_RELATIVE, MOVE_REFERENCE_TOOL);
   // Moves the robot from the start position to the relative position of x1t in the tool coordinate.

   float x1b[6] = { 559, 434.5, 651.5, 0, 180, 0 };
   float x2b[6] = { 559, 434.5, 251.5, 0, 180, 0 };
   float tvelb[2] = { 50, 50 };
   float taccb[2] = { 100, 100 };
   float blending_radius = 100;
   drfl.movel(x1b, tvelb, taccb, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, blending_radius);

This example demonstrates linear TCP motion using velocity/acceleration, time-based execution, a relative tool-frame move, and a blended linear segment using a 100 mm radius to smoothly connect to the next path.