amove_periodic (Auto Mode)

As an asynchronous move_periodic(), this function operates the same way as move_periodic() except that it executes the next line immediately after the motion starts, without waiting for termination. A new motion command generated before the previous one ends must be separated by mwait() for safety.

This command performs a cyclic motion based on the sine function of each axis (parallel or rotation) in the specified reference coordinate (eMoveReference). The attributes of the motion (amplitude, period, acceleration/deceleration time, and total repetitions) are defined by the respective input parameters.

Definition
DRFLEx.h within class CDRFLEx, public section (line 809)

bool amove_periodic(float fAmplitude[NUM_TASK],
                    float fPeriodic[NUM_TASK],
                    float fAccelTime,
                    unsigned int nRepeat,
                    MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_TOOL) {
    return _amove_periodic(_rbtCtrl, fAmplitude, fPeriodic, fAccelTime, nRepeat, eMoveReference);
};

Parameter

Parameter Name	Data Type	Default Value	Range	Description
fAmplitude	float[6]		≥ 0	Amplitude (motion between -fAmplitude and +fAmplitude) [mm] or [deg]
fPeriodic	float[6]		≥ 0	Period (time for one cycle) [sec]
fAccelTime	float		≥ 0	Acceleration/Deceleration time [sec]
nRepeat	unsigned char		> 0	Repetition count
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL		Refer to the Definition of Enumeration Type

Note

• fAmplitude defines the amplitude for each axis (x, y, z, rx, ry, rz). Axes with no periodic motion must have an amplitude of 0.

• fPeriodic defines the time to complete one full motion cycle for each axis. Each value corresponds to the same order as the axes (x, y, z, rx, ry, rz).

• fAccelTime specifies the acceleration/deceleration time at both the beginning and end of the periodic motion. The maximum of (period * 1/4) is applied. Errors occur if acceleration/deceleration time exceeds ½ of the total motion time.

• nRepeat determines how many full cycles are repeated. The axis with the largest period determines total motion time.

• If the motion ends normally, the remaining axes may stop before the reference axis terminates to maintain return to the start position. If not, the deceleration path may slightly deviate.

• eMoveReference specifies whether the periodic motion is executed in TOOL or BASE coordinates.

• To adjust excessive velocity, use: velocity = Amplitude(fAmplitude) * 2 * π(3.14) / Period(fPeriodic)
  e.g., Max velocity = 62.83 mm/s if amp=10 mm, period=1 s

• This function does not support online blending between previous and next motions.

Return

Value	Description
0	Error
1	Success

Example

// Repeats the X-axis (10 mm amplitude, 1 sec period) motion and
// Y-axis rotation (0.5 deg amplitude, 1 sec period), repeated 5 times.
// Sets the Digital Output channel 1 after 1 second.
float fAmplitude[NUM_TASK] = {10, 0, 0, 0, 0.5, 0};
float fPeriod[NUM_TASK] = {1, 1, 1, 1, 1, 1};
drfl.amove_periodic(fAmplitude, fPeriod, 0.5, 5, MOVE_REFERENCE_TOOL);
Sleep(1000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);
drfl.mwait();

This example generates a sinusoidal periodic motion on X and rotation-Y axes within the TOOL coordinate frame. After 1 second, Digital Output 1 is triggered while the robot continues its periodic trajectory.