amovec (Auto Mode)

As an asynchronous movec, it operates the same as movec except for not having the fBlendingRadius argument for blending. However, due to the asynchronous type, the command returns immediately when motion starts and executes the next line without waiting for termination.

This function is available only when ``DRCF_VERSION == 2``. (It is not supported in version 3 or later.)

Definition
DRFLEx.h within class CDRFLEx, public section (line 781)

bool amovec(float fTargetPos[2][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 fTargetAngle1 = 0.f,
            float fTargetAngle2 = 0.f,
            BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE,
            MOVE_ORIENTATION eOrientation = DR_MV_ORI_TEACH,
            DR_MV_APP eAppType = DR_MV_APP_NONE) {
    return _amovec_ex(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime,
                      eMoveMode, eMoveReference, fTargetAngle1, fTargetAngle2,
                      eBlendingType, eOrientation, eAppType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos[0]	float[6]		Waypoint
fTargetPos[1]	float[6]		Target location
fTargetVel	float[2]		Linear Velocity, Angular Velocity
fTargetAcc	float[2]		Linear Acceleration, Angular Acceleration
fTargetTime	float	0.f	Reach Time [sec]
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
fTargetAngle1	float	0.f	angle1
fTargetAngle2	float	0.f	angle2
eBlendingType	BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	Refer to the Definition of Enumeration Type
eOrientation	MOVE_ORIENTATION	DR_MV_ORI_TEACH	Orientation control option of the tool (teached / fixed / etc.)
eAppType	DR_MV_APP	DR_MV_APP_NONE	Application hint for motion (if supported by controller)

Note

• If an argument is input 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 input 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.

• If eMoveMode is MOVE_MODE_RELATIVE, fTargetPos[0] and fTargetPos[1] are defined in the relative coordinate system of the previous position. (fTargetPos[0] is the relative coordinate from the starting point, while fTargetPos[1] is the relative coordinate from fTargetPos[0].)

• If fTargetAngle1 is more than 0 and fTargetAngle2 is 0, the total rotated angle on the circular path is applied to fTargetAngle1.

• When both fTargetAngle1 and fTargetAngle2 are specified (>0), fTargetAngle1 refers to the total rotating angle moving at a constant velocity on the circular path, while fTargetAngle2 refers to the rotating angle in the accel/decel section. In that case, the total moving angle is fTargetAngle1 + 2 × fTargetAngle2 along the circular path.

• Refer to the motion description of moveb for blending according to option eBlendingType and fTargetVel / fTargetAcc.

Return

Value	Description
0	Error
1	Success

Example

// Example: Draw a clockwise circular arc through two task-space points asynchronously.
// - Digital output 1 turns ON 3 seconds after motion starts.
// - Uses BASE frame / ABSOLUTE mode / default orientation (teach).
#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // (Preconditions) Connected, Servo ON, Auto mode, and speed limits configured.

    // 1) Define two points on the arc: waypoint (x1[0]) and target (x1[1])
    float x1[2][NUM_TASK] = {
        { 559.f, 434.5f, 651.5f, 0.f, 180.f, 0.f },  // waypoint
        { 559.f, 434.5f, 251.5f, 0.f, 180.f, 0.f }   // end target
    };

    // 2) Set linear / angular velocity & acceleration
    float tVel[2] = { 50.f, 50.f };    // 50 mm/s, 50 deg/s
    float tAcc[2] = { 100.f, 100.f };  // 100 mm/s^2, 100 deg/s^2

    // 3) Execute asynchronous circular motion
    drfl.amovec(x1, tVel, tAcc);

    // 4) Do something else immediately (no wait)
    Sleep(3000);
    drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);

    // 5) Ensure synchronization before next motion
    drfl.mwait();

    return 0;
}

This example performs an asynchronous circular motion through two TCP points, then turns on a digital output after 3 seconds. The motion does not block the program flow, so additional actions or monitoring can run concurrently.