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amovej (Auto Mode)

As an asynchronous movej, this function operates the same as the movej function except for not having the fBlendingRadius argument for blending. Due to its asynchronous nature, the command returns immediately after motion starts, allowing the next line of code to execute without waiting for the motion to complete.

Definition
DRFLEx.h within class CDRFLEx, public section (line 773)

bool amovej(float fTargetPos[NUM_JOINT],
            float fTargetVel,
            float fTargetAcc,
            float fTargetTime = 0.f,
            MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
            BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE) {
    return _amovej(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc,
                   fTargetTime, eMoveMode, eBlendingType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint location for six axes
fTargetVel	float		Velocity
fTargetAcc	float		Acceleration
fTargetTime	float	0.f	Reach Time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Enumeration Type
fBlendingRadius	float	0.f	Radius for blending
eBlendingType	BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	Refer to the Definition of Enumeration Type

Note

• When fTargetTime is specified, motion is processed based on fTargetTime while ignoring fTargetVel and fTargetAcc.

• Refer to the motion description of movej for blending details according to eBlendingType and velocity/acceleration settings.

Return

Value	Description
0	Error
1	Success

Example

// Example: Perform asynchronous joint-space motion sequence with mwait synchronization.
#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    float q0[6] = { 0.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f };
    float q1[6] = { 90.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f };
    float q99[6] = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
    float jvel = 10.f;   // Joint velocity [deg/s]
    float jacc = 20.f;   // Joint acceleration [deg/s²]

    // 1) Move to initial position synchronously
    drfl.movej(q0, jvel, jacc);

    // 2) Wait 3 seconds before next command
    Sleep(3000);

    // 3) Start asynchronous motion to q1 (no wait)
    drfl.amovej(q1, jvel, jacc);

    // 4) Wait for motion completion before next move
    drfl.mwait();

    // 5) Move to home position after synchronization
    drfl.movej(q99, jvel, jacc);

    return 0;
}

This example performs an asynchronous joint-space motion using amovej(), then synchronizes with mwait() before continuing to the next move. It demonstrates how asynchronous motion allows other tasks or I/O operations to run concurrently until synchronization is explicitly called.