move_periodic (Auto Mode)

This function performs cyclic motion for each axis based on the sine function. The motion is executed as a relative periodic trajectory from the current position, where the amplitude, period, acceleration time, and repetition count determine the waveform. Each axis (X, Y, Z, Rx, Ry, Rz) can be independently configured to generate synchronized sinusoidal motion according to the reference frame.

Definition
DRFLEx.h within class CDRFLEx, public section (line 808)

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

Parameter

Parameter Name	Data Type	Range / Default	Description
fAmplitude	float[6]	≥ 0	Amplitude of motion between -fAmplitude and +fAmplitude [mm] or [deg] (axes: x, y, z, Rx, Ry, Rz)
fPeriodic	float[6]	≥ 0	Period time for one motion cycle [sec]
fAccelTime	float	≥ 0	Acceleration / deceleration time [sec]
nRepeat	unsigned char	> 0	Number of periodic repetitions
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL	Refer to the Definition of Enumeration Type

Note

• fAmplitude defines the displacement range for each axis. Set unused axes to 0.

• fPeriodic defines the time to complete one cycle per axis. Each element corresponds to X, Y, Z, Rx, Ry, and Rz.

• fAccelTime specifies the acceleration and deceleration interval at both ends of motion. The maximum allowed value is up to ¼ of the smallest period time.

• nRepeat determines how many cycles are repeated. If one axis has a larger period, that axis becomes the reference for total duration.

• If the motion ends normally, shorter-period axes terminate earlier, and the robot returns to the initial position when all axes complete their cycles.

  

  
  

  

  
  

• eMoveReference determines whether periodic motion is performed in the BASE or TOOL coordinate system.

• The maximum achievable velocity can be estimated by:

  velocity = (Amplitude × 2 × π × 3.14) / Period
  

  Example: amplitude = 10 mm, period = 1 s → max velocity ≈ 62.83 mm/s

• Online blending with other motions is not supported.

Return

Value	Description
0	Error
1	Success

Example

// CASE 1 — TOOL reference periodic motion
float fAmplitude[NUM_TASK] = {10, 0, 0, 0, 30, 0};
float fPeriod[NUM_TASK] = {1, 1, 1, 1, 1, 1};

drfl.move_periodic(fAmplitude, fPeriod, 0.2, 5, MOVE_REFERENCE_TOOL);
// Repeats x-axis (10 mm amp, 1 sec period) and Ry rotation (30° amp) motion 5 times.

// CASE 2 — BASE reference periodic motion
float amp2[NUM_TASK] = {10, 20, 0, 0, 0, 5};
float per2[NUM_TASK] = {1, 0, 1.5, 0, 0, 0};

drfl.move_periodic(amp2, per2, 0.5, 3, MOVE_REFERENCE_BASE);
// Repeats x-axis (10 mm, 1 sec) and z-axis (20 mm, 1.5 sec) motion 3 times.
// Axes with period = 0 (like y, rx, ry) remain fixed.
// Total duration ≈ 5.5 s; x-axis completes ~4.5 cycles.

This command generates smooth cyclic trajectories for each specified axis and is commonly used for vibration testing, oscillation calibration, or dynamic tool testing.