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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.

Definition
DRFLEx.h within class CDRFLEx, public section (line 776)

// 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

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] * If the time is specified, values are processed based on time, ignoring vel and acc.
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Enumeration Type
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	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

• 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.

  

  
  

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.

Return

Value	Description
0	Error
1	Success

Example

// 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.