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For information on the latest version, please have a look at GL013301.

amovesj (Auto Mode)

As an asynchronous movesj, it operates the same as movesj() except for the asynchronous process, and executes the next line by returning as soon as motion starts without waiting for the termination of motion.
A new motion command generated before the motion is terminated by amovesj() causes errors for security reasons. Therefore, the termination of the amovesj() motion must be confirmed using mwait() between amovesj() and the following motion command before the new motion command is executed.

Definition
DRFLEx.h within class CDRFLEx, public section (line 797)

bool amovesj(float fTargetPos[MAX_SPLINE_POINT][NUM_JOINT],
             unsigned char nPosCount,
             float fTargetVel,
             float fTargetAcc,
             float fTargetTime = 0.f,
             MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE) {
    return _amovesj(_rbtCtrl, fTargetPos, nPosCount, fTargetVel,
                    fTargetAcc, fTargetTime, eMoveMode);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	Float[MAX_SPLINE_POINT][6]		Maximum 100 waypoint list
nPosCount	unsigned char		Number of valid waypoints
fTargetVel	float / float[6]		Velocity
fTargetAcc	float / float[6]		Acceleration
fTargetTime	float	0.0	Reach Time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Constant and Enumeration Type

Note

• When fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and fTargetAcc.

• When eMoveMode is MOVE_MODE_RELATIVE, each pos on the position list is defined as a relative coordinate for the preceding pos. (If position list = [q1, q2, …, q(n-1), q(n)], q1 is the relative angle from the start point, while q(n) is the relative coordinate of q(n-1).)

• This function does not support online blending of previous and subsequent motions.

Return

Value	Description
0	Error
1	Success

Example

// D-Out 3 seconds after the spline motion through all points of jpos begins
float jpos[4][6];
float jvel = 10;
float jacc = 10;
int jposNum = 4;

jpos[0][0]=0;  jpos[0][1]=0;  jpos[0][2]=-30; jpos[0][3]=0;  jpos[0][4]=-30; jpos[0][5]=0;
jpos[1][0]=90; jpos[1][1]=0;  jpos[1][2]=0;   jpos[1][3]=0;  jpos[1][4]=0;   jpos[1][5]=0;
jpos[2][0]=0;  jpos[2][1]=0;  jpos[2][2]=-30; jpos[2][3]=0;  jpos[2][4]=-30; jpos[2][5]=0;
jpos[3][0]=0;  jpos[3][1]=0;  jpos[3][2]=0;   jpos[3][3]=0;  jpos[3][4]=0;   jpos[3][5]=0;

drfl.amovesj(jpos, jposNum, jvel, jacc);
Sleep(3000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);

This asynchronously executes a joint spline through four waypoints and toggles a digital output 3 seconds after start. Use mwait() before issuing the next motion to ensure the spline has finished.