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move_spiral (Auto Mode)

This function executes a spiral trajectory motion in which the robot’s radius gradually increases in the radial direction while moving in parallel with a rotating spiral along the axial direction. The path is formed on a plane perpendicular to the selected axis (eTaskAxis) and the spiral expands outward until it reaches the specified maximum radius and length.

Definition
DRFLEx.h within class CDRFLEx, public section (line 803)

bool move_spiral(TASK_AXIS eTaskAxis,
                 float fRevolution,
                 float fMaximuRadius,
                 float fMaximumLength,
                 float fTargetVel[2],
                 float fTargetAcc[2],
                 float fTargetTime = 0.f,
                 MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_TOOL) {
    return _move_spiral(_rbtCtrl, eTaskAxis, fRevolution, fMaximuRadius,
                        fMaximumLength, fTargetVel, fTargetAcc,
                        fTargetTime, eMoveReference);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eTaskAxis	TASK_AXIS		Axis perpendicular to the spiral surface (defines rotation plane for the spiral path)
fRevolution	float		Total number of spiral revolutions [rev > 0]
fMaximuRadius	float		Final spiral radius [mm]
fMaximumLength	float		Linear distance moved along the spiral axis [mm] (negative value = reverse direction)
fTargetVel	float[2]		Linear and angular velocity [mm/s, deg/s]
fTargetAcc	float[2]		Linear and angular acceleration [mm/s², deg/s²]
fTargetTime	float	0.0	Total execution time [sec]
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL	Coordinate reference frame for spiral motion (BASE / TOOL)

Note

• fRevolution sets the number of rotations in the spiral trajectory.

• fMaximuRadius defines the final radius of the spiral.

• fMaximumLength specifies the distance traveled along the spiral axis, with negative values moving in the opposite axial direction.

• fTargetVel and fTargetAcc control the linear and angular speed profiles.

• When fTargetTime is provided, motion is timed and velocity/acceleration are ignored.

• eTaskAxis selects which plane the spiral lies on (e.g., TASK_AXIS_Z for XY-plane spirals).

• eMoveReference defines the reference frame (BASE or TOOL).

• This function does not support online blending with other motion commands.

Caution

• If the rotating acceleration generated by the spiral exceeds a safe limit, the system may trigger an error for protection. Reduce fTargetVel, fTargetAcc, or fTargetTime accordingly.

Return

Value	Description
0	Error
1	Success

Example

// Perform a spiral motion along the TOOL-Z axis
float rev = 3;       // 3 full rotations
float rmax = 30;     // Maximum radius: 30 mm
float lmax = 50;     // Moves 50 mm in Z-axis direction
float tvel[2] = {50, 50};    // Linear/Angular velocity
float tacc[2] = {100, 100};  // Linear/Angular acceleration

drfl.move_spiral(TASK_AXIS_Z, rev, rmax, lmax, tvel, tacc);
// Moves the robot in a spiral expanding outward (radius 30 mm)
// while ascending 50 mm along the Z-axis over 3 turns.

This command is commonly used for polishing, surface scanning, or coating applications where a smooth helical trajectory with radial expansion is required.