movejx (Auto Mode)

This function moves the robot to a target TCP position (posx) defined in the task space while performing the motion in joint space. Although it accepts a Cartesian target like movel, the internal trajectory is executed through joint interpolation rather than linear path planning.

The target pose can be reached via one of eight robot configurations (solution spaces), and the user must specify the desired configuration index (0–7). If 255 is entered, the robot automatically selects the configuration closest to the current joint posture (based on the smallest L2 norm of joint axes 2–5).

Definition
DRFLEx.h within class CDRFLEx, public section (line 790)

bool movejx(float fTargetPos[NUM_JOINT],
            unsigned char iSolutionSpace,
            float fTargetVel,
            float fTargetAcc,
            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) {
    return _movejx(_rbtCtrl, fTargetPos, iSolutionSpace, fTargetVel, fTargetAcc,
                   fTargetTime, eMoveMode, eMoveReference, fBlendingRadius, eBlendingType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target TCP position (X, Y, Z, Rx, Ry, Rz)
iSolutionSpace	unsigned char		Joint configuration index (0–7 or 255 for auto selection)
fTargetVel	float		Velocity [mm/s or deg/s]
fTargetAcc	float		Acceleration [mm/s² or deg/s²]
fTargetTime	float	0.f	Reach time [sec] (overrides velocity and acceleration)
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Defines absolute or relative motion mode
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	Coordinate reference system (BASE or TOOL)
fBlendingRadius	float	0.f	Radius for blending consecutive motions [mm]
eBlendingType	BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	Blending type option for transition smoothing

Note

• When fTargetTime is specified, the system ignores fTargetVel and fTargetAcc and moves according to the specified duration.

• Using blending after relative motion (MOVE_MODE_RELATIVE) can cause errors. Blending should be used only with absolute mode.

• Refer to movej and movel for more details on blending methods according to fBlendingRadius and fBlendingType.

Robot configuration (solution space)

Solution Space	Binary	Shoulder	Elbow	Wrist
0	000	Lefty	Below	No Flip
1	001	Lefty	Below	Flip
2	010	Lefty	Above	No Flip
3	011	Lefty	Above	Flip
4	100	Righty	Below	No Flip
5	101	Righty	Below	Flip
6	110	Righty	Above	No Flip
7	111	Righty	Above	Flip
255	Auto	-	-	Automatically selects configuration closest to current posture (minimizes L2 norm of joint axes 2–5)

Return

Value	Description
0	Error
1	Success

Example

// CASE 1 — Velocity/acceleration-based joint-space move
float x1[6] = {559, 34.5, 651.5, 0, 180, 0};
unsigned char sol = 2;
float jvel = 10;
float jacc = 20;

drfl.movejx(x1, sol, jvel, jacc);
// Moves to the target pose corresponding to x1
// using velocity 10 deg/s and acceleration 20 deg/s².

// CASE 2 — Time-based motion
float x2[6] = {559, 34.5, 651.5, 0, 180, 0};
drfl.movejx(x2, sol, 0, 0, 5);
// Moves to the target joint configuration in 5 seconds.

// CASE 3 — Motion blending with previous move
float x3[6] = {559, 34.5, 651.5, 0, 180, 0};
float x4[6] = {559, 434.5, 651.5, 0, 180, 0};
float blend_radius = 50;

drfl.movejx(x3, sol, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, blend_radius);
drfl.movejx(x4, sol, jvel, jacc, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, 0, BLENDING_SPEED_TYPE_DUPLICATE);
// Executes blended joint-space motion between x3 and x4
// maintaining smooth transition within 50 mm radius.

This function is mainly used for high-speed, smooth joint-space transitions that maintain stable configuration tracking while ensuring flexible blending control.