You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

amovesx (Auto Mode)

As an asynchronous movesx, this function operates the same as movesx() except for the asynchronous process. It returns immediately after motion starts without waiting for its termination.
Because of this, a new motion command issued before the completion of amovesx() will cause a safety error. Always confirm motion termination using mwait() before executing the next command.

Definition
DRFLEx.h within class CDRFLEx, public section (line 801)

bool amovesx(float fTargetPos[MAX_SPLINE_POINT][NUM_TASK],
             unsigned char nPosCount,
             float fTargetVel[2],
             float fTargetAcc[2],
             float fTargetTime = 0.f,
             MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
             MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE,
             SPLINE_VELOCITY_OPTION eVelOpt = SPLINE_VELOCITY_OPTION_DEFAULT) {
    return _amovesx(_rbtCtrl, fTargetPos, nPosCount, fTargetVel,
                    fTargetAcc, fTargetTime, eMoveMode, eMoveReference, eVelOpt);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[MAX_SPLINE_POINT][6]		Maximum 100 waypoint information
nPosCount	unsigned char		Number of valid waypoints
fTargetVel	float[2]		Linear and Angular Velocity
fTargetAcc	float[2]		Linear and Angular Acceleration
fTargetTime	float	0.0	Reach time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Absolute or Relative movement mode
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	Coordinate reference system (BASE / TOOL)
eVelOpt	SPLINE_VELOCITY_OPTION	SPLINE_VELOCITY_OPTION_DEFAULT	Velocity profile option for spline motion (default: variable velocity spline)

Note

• If fTargetVel is given (e.g., {30, 0}), the first element represents linear velocity, and the second represents angular velocity (determined proportionally to linear velocity).

• If fTargetAcc is given (e.g., {60, 0}), the first element defines linear acceleration, and the second represents angular acceleration (proportional to linear acceleration).

• If fTargetTime is specified, the motion is executed based on time, ignoring both fTargetVel and fTargetAcc.

• When eMoveMode is MOVE_MODE_RELATIVE, each waypoint is defined relative to the previous waypoint. (For example, in list [q1, q2, q3], q2 is relative to q1, q3 to q2, etc.)

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

Caution

• When using SPLINE_VELOCITY_OPTION_CONST for eVelOpt (constant velocity spline), the constant-speed profile cannot be applied if distance or velocity between input waypoints does not allow uniform motion. In such cases, the motion automatically switches to SPLINE_VELOCITY_OPTION_DEFAULT.

Return

Value	Description
0	Error
1	Success

Example

// Execute an asynchronous Cartesian spline motion through multiple waypoints.
// D-Out is triggered 3 seconds after the spline motion starts.

float xpos[4][6];
int xposNum = 4;
float tvel[2] = { 50, 50 };
float tacc[2] = { 100, 100 };

xpos[0][0]=559; xpos[0][1]=434.5; xpos[0][2]=651.5; xpos[0][3]=0; xpos[0][4]=180; xpos[0][5]=0;
xpos[1][0]=559; xpos[1][1]=484.5; xpos[1][2]=251.5; xpos[1][3]=0; xpos[1][4]=180; xpos[1][5]=0;
xpos[2][0]=559; xpos[2][1]=234.5; xpos[2][2]=251.5; xpos[2][3]=0; xpos[2][4]=180; xpos[2][5]=0;
xpos[3][0]=559; xpos[3][1]=134.5; xpos[3][2]=451.5; xpos[3][3]=0; xpos[3][4]=180; xpos[3][5]=0;

drfl.amovesx(xpos, xposNum, tvel, tacc, 0, MOVE_MODE_ABSOLUTE);
Sleep(3000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);

This example performs an asynchronous spline motion through four TCP waypoints and activates a digital output 3 seconds after motion starts. The next command should only be issued after verifying completion with mwait().